Legally, unless a judge has issued an order excluding you from the residence, you have the right to return to it. If you and your wife are not in agreement about the terms of living together, you should expect that doing so will result in either a motion to the court to grant her exclusive use of the house, a restraining order based on whatever facts she may have to justify that, or just the filing of a request to dissolve your marriage.
The CPS unsubstantiated report means just that - unsubstantiated. However, if you move back in, she can likely get a restraining order. You would be well served to consult with a family law attorney before taking any self help action.
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