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Only a judge can life a restraining order. So, upon turning 18, your granddaughter should go into the court that issued the restraining order and bring a motion to lift the restraining order. In bringing the motion, she will need to explain why the restraining order should be lifted. Since this motion can be somewhat difficult, she may want to consider working with a California local attorney to have the order lifted. I would be happy to make a recommendation for an attorney deals in these types of issues if your granddaughter needs one.
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No, she would file her motion and the court would give her a court date. Then she would be expected to appear on that date. For some reason if she is unable to attend on the appointed day, she may be able to request another date, but that needs to be handled through the court.