Have your wife bring the children on Shabbos after the Musaf Shemona Esra has been completed, and they can daven the final 15 minutes by your side (assuming they can handle even this). Over time, you can build on it if they show they are up for it.
Bring your sons to daven with you for Mincha/Maariv during the week. Perhaps they can handle that, too. Shachris may be too long.
Bottom line, don’t put a stumbling block in front of a blind man. Don’t put you kids in behavior situations (at shul) where they cannot succeed. There’s too much at stake.