Cobb never found Saito in limbo, never woke up, and never went home to his kids. That was all a dream.
We know this because the kids are the same age, wearing the same clothes, and crouched in the exact same position they were in the last time he saw them.
But everything else in the movie, forming the team and performing Inception, was real. He just never woke up after he agreed to stay behind to find Saito.
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Kids wear almost the same clothes (to trick us), however if you watch attentively, they are bigger and the girl wears top with white sleeves. Boy wears about the same stuff. It means it is not his memory recreating their image in a dream. My guess is not too much time (maybe just few months) passed since his wife killed herself and Cobb left the country.
From the credits:
Claire Geare ... Phillipa (3 years)
Magnus Nolan ... James (20 months)
Taylor Geare ... Phillipa (5 years)
Johnathan Geare ... James (3 years)
👿 I know something you don't know ... I am ambidextrous!
You've got to watch it again he got out...
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