CPS (at least in California) is the most unhelpful bunch of people in existencce, in my opinion. I have known of cases where they should have been there because there was real abuse and neglect and they've brushed it off as nothing. But then they give a hard time to people who haven't acutally done anything wrong. When I was maybe 6 or so, my mother and I left my brother (then 13ish) alone with my sister for the day while we went to check on things at home. My dad was working out of state so we were living with him but drove home every now and again to see how things were. The drive both ways and the check on the house could be done in a matter of hours. When we got back my sister and brother were gone because someone called CPS saying that my mom abandoned them and they came and took my brother and sister. Fortunately, my mom got them back pretty quickly. My brother had been feeding and bathing and dressing and changing diapers for us from when I was just months old. He was 7 when he started taking care of us. Not that my mom wasn't there, he just wanted to. He said that we were his babies and so he would take care of us on weekend mornings and my mom would get to catch up on sleep. Of course, the woman who called CPS didn't know that even at 13, he was perfectly capable of taking care of us. But everything came out okay. And it will for you, too. It'll probably be a pain in the patoot but they'll see that you're all good parents.
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If you're not dead, you've still got time.