It's quite left open, but there's no reason to assume he won't be back. He's had his family for literally years, under the radar of SHIELD with Fury's help. He's clearly there as often as possible. His wife and him talk about how he really wants to be part of the team and she supports him and thinks they need him, but he also wants to be with his family a lot. He's a good part of the team and satisfied with it at the end of the battle, he has no reason to leave for good. They don't talk about it, he just goes home with his stuff (which again makes sense since they all leave the Tower), and his wife hugs him happily with tears in her eyes. That all tells as that he's at least home for quite a while, which we know since she's pregnant at that time and the end scene at the new base takes place after the baby's been born. But we also know that he's in Civil War, so I stand -and nothing out there contradicts - that he's (just like in the comics) a full member of the team but only present at the must urgent need.