How old are your kids? Have you ever tried to pee in their presence? It may be easier than you think. If you succeed, you will obtain two results. You will have done a step forward in order to overcome paruresis and your kids will see that peeing is just a normal function of our body and not something to be hidden. I have a son of 14. When he was a toddler I became used to his presence while I was peeing. At that time I was still very inhibited and could not use urinals. But with my son it was easier in my bathroom. Later we went sometime peeing together in the open air and even in urinals.
Does your wife know about your paruresis?
Best wishes and contact me if you like. I wrote my whole story in this forum. You can read it.