first the reason why he eventually ended up in sodom is because that was his disposition - not the sodomy part but he wanted to be in the city even tho he had the best land.
second he did not sleep with his children - it was the other way around and the resulting offspring led to a group who to this day still hates and fights with the jews the moabites or modern jordan most of whom are palestinians) - abrahams offspring via isaac. the girls got him drunk - tho he should have had better control.
third you cannot condemn lot for offering his girls. you need to understand the customs of the time. the fact is that even tho he offered his virgin girls the locals still wanted to rape the men (angels).
the results had nothing to do with gods judgenment or lack thereof. it was purely and simply the actions of certain men and women that led to the results we now see.
it is interesting that 2 Peter 2:4-10 called lot righteous
