I agree.I would think it is worth going back to Court as it is much harder for someone to say to a Judge "Im just not going to do it" than it is to say that to the other person.
It is about boundary setting. If your person allows their ex to break the order without consequence then they will keep breaching it.
I know someone who went through similar 4-6 years ago..
Unfortunately, You have to go back to court as Mattie says.
Unfortunately please bear in mind that the outcome of your case is largely dependent on the judge you’ll get and their attitude towards these things, rather than any rules.
Some judges take a very dim view of breaching, others don’t want to even know about it and say go way and sort it out yourselves type of thing. The person I know spent years in and out trying to get boundaries respected and in the end it went no where really. If your ex has money they will hire solicitors well able to muddy the waters