Hi Moose

!
I think you are doing all of the right things already. The therapist should be able to help a lot. It will probably just take time for him to know that you are not going to leave him.
His mom, and I use that term loosely, can't be making the situation any better. Can you talk to her at all about the kids? Does she see them regularly for those 6 hours? Is it the same day every week or is it an hour here and an hour there? Apparently at one time she was a better mother. Once Gabriel has more consistency in his life, I believe things will slowly get better. JMHO
It's all about consistency with kids. I know that from 20 years of experience. I have 2 boys also, ages 20 and 16, Jesse and Jacob.
Good luck, Moose. Things will get better over time.