SO glad you got the bipolar disorder diagnoses and are being treated. My girlfriend has that, and while I'm SO grateful that she doesn't have the overspending problem that's so common with BP, I know what a difficult struggle BP is. Kudos to you for working so hard to beat it.
Now, on to the finances!
You don't make enough money to support two residences. Period, end of story. No, I don't think you sound "rich." I make over $100K, and I, too, am struggling to get out of debt. But there's no way a $135K income supports two residences. Get real about that.
Sell the cars.
Do you have stock investments (outside a 401K) that you could liquidate?
Sell stuff. Homes, cars, appliances - sell, sell, sell, sell and simplify your lives. I know you said you couldn't make it without the contracting -- but that lifestyle seems to be part of your problem.
Get your family on one place. Your costs will drop dramatically....
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