Unfortunately, if he is also listed as a tenant on the property, he does not have to leave to allow you to return.He is legally entitled to remain in this property as long as he is the tenant.
As he is no longer under arrest or on bail, the police can do nothing about that.
If you no longer wish to return home, then you would need to find other accommodation. Family, friends etc. Then contact the council and advise them what has happened. They may assist, or they may actually say you are responsible to find your own accommodation because between you both the situation of police calls for no reason and then no isolating when you should have been brought on by yourselves. You may have to consider emergency shelter as an option.
Certainly make contact with a local family solicitor to see what they can do as you have the children. If he did actually assault you then they may be able to help you through court to have him removed from the property so you can return. Legal aid my be available.
It may be helpful to instruct a local solicitor who specialises in this area of law. You can find a local firm using the Law Society website. www.lawsociety.org.uk
Once on that website, you can click on the find a solicitor option located just above the Law Society logo. Select quick search, then select the area of law required and enter your post code. A list of local firms will then be displayed.