Personally I would change things a bit, but maybe I'm missing something you didn't include in the facts.
1) Awesome 401K match of 10%. Once car and PMI are gone I would make sure to max 401K ($17,500, not the 15% you mentioned) to reduce taxes as much as possible (see number 5 below as well for this), and don't wait for the raise to do it.
2) Move the old 403b and old 401k into one or two Traditional IRA's if possible, maybe at Vanguard. Much lower expenses than leaving behind at old jobs.
3) Pay off the car loan today with your online savings account. It can't be paying you more than the 4.875% on the car loan. No facepunch from me on the car since it's not your decision and I don't know all the circumstances, but make the best of it by getting rid of the high interest rate ASAP. You aren't paying much in interest since the principal is so low, but you have the cash in savings already.
4) Take all monthly savings from paying off car loan, plus the entire allocation of $400 from your online savings account, and put every extra $ towards the mortgage until you get to the 80% LTV of $208K ($260K * 80%), not the $203K you mentioned. Congrats, you're only 2-3 months away from getting rid of the PMI theft. Contact the bank right away to make sure this disappears.
5) Now that car loan and PMI are gone, re-start your $400/month to car savings, and take all your other savings ($400 car loan, $73 PMI, $300 extra on mortgage) and contribute the max of $5,500 to a Traditional (not Roth) IRA which you've already opened with your old retirement funds. The tax savings are tremendous. Please see this thread if you haven't already:
https://forum.mrmoneymustache.com/welcome-to-the-forum/optimize-your-taxable-income/Don't worry about putting the money into a Roth, because if you retire in your early/mid fifties you will have 10-12 years to move 401K/IRA funds into Roth's very slowly without paying any taxes due to your standard deductions/exemptions. Once you start collecting social security this becomes a bit harder and you will pay some tax, so maybe switch to Roth contributions in 10 years if need be.
6) Lastly, if you are paying whole life insurance premiums, I would strongly consider cashing out any cash value (the $25K you referred to), contributing that into the Coverdell accounts, and if you need life insurance picking up a 20 year term policy for you and or your husband with a death benefit equal to what you think you need. Once your net worth exceeds the coverage, consider dropping the policies altogether to save the premiums. Whole life premiums are typically 4 times term premiums with the same payouts.
These are small tweaks to your plan that I think will optimize your results, but either way you are very close to the point where it will start to feel like you are riding on the right side of the wave. You are committing a lot of extra dollars right now to the car loan, and the PMI, and when they are gone your savings will take off. Congrats, and good luck!