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The agreement doesn't automatically become void, per se, but if you never filed for divorce, you're still legally married. Since the separation agreement is a written contract, the two of you can modify that, either orally or in writing. You can agree to revoke the agreement.
If you were to separate again, though, a judge would most likely require a new separation agreement, one that was based on your current assets, income, and expenses. If you re-combined your households after the original agreement, it's not likely that a judge would try to enforce the old agreement.
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