If I was under ICE detention and got voluntary deportation, what would I be able to apply for?

You should consult with an experienced immigration attorney. Despite deportation, you might be able to return to the US legally some day. But first, you need an approved petition (your children cannot file until they are 21 years). After a thorough review of your case file, an experienced attorney should be able to advise you of your options. Meanwhile, do not attempt to come back into the US without DHS permission.

If you voluntarily departed, there is normally no blight on one's record, except perhaps the bar as an overstay or criminal conduct.