Monthly income $7,025 after tax.
Monthly expenses $5,620 ($5,307 plus $312.5 college and pool).
You have savings of £1,500 and $1,400 extra coming in per month, even on your current expenses. You have medical debt and credit card debt adding up to $11,000. Starting by using your savings to pay off the credit card this month, you will have all of those debts gone pretty quickly.
I first misread the lien as $11,000: I bet you wish! Once you have all debts apart from the mortgage and lien paid, you have $1,623 per month ($1,400 plus credit card payment plus medical bill payment) to put towards your mortgage and lien. You are both in your mid-forties, and the kids are getting grown. You have $211,000 in 401(k) (to which I hope you are both contributing match/max) and $32,000 in equity apart from the lien. Are you paying interest on the lien? If not, it's not a hair on fire issue, just a "we can't sell the house" issue, and unless you are moving out of your high cost of living area, I don't see selling the house as helping your situation much.
Facepunches
3 cars with gas/tolls of $340 per month? How much of this is clown car driving? Are the kids contributing financially to their car use?
Cable $175 per month
Cell $80 per month
Electric $175 per month and Gas $114 per month
Gym $22 per month
College: are you really paying for your kid's college while you are still paying off your own student loans? Does anything seem slightly wrong to you about this? Do the kids earn any money? Are they looking out for scholarships for college?
Pool at $750 per year: if you are not getting a lot of use out of it, consider a temporary or permanent retirement for it.