Welcome to the Wefugees Community and thank you for reaching out to us.
I understand that the waiting situation and the uncertainty is gruelling and exhausting for you and your family. Five years is a very long time and apparently courts are sometimes so busy that procedures take years. However, I am afraid that there is not too much you can do about it for the time being. Maybe it can help your morale to see your situation from a different perpective: As long as you are still waiting for the court ruling you also keep the status quo. You (are allowed to) work, you can take care of your family and your children study and are also getting part of the German society. In case the court is ruling against your application one day, all those factors will get even more important and might help you to find alternative ways to get a residence permit in Germany.
I will also link two of our wonderful experts here. Dear @mbeon-Rukundo or @MBEon-Sophie, would you agree and/or are there any thoughts you may want to add?
@Danty: In any case, please don't hesitate to get back to us with any further questions.
All the best,