Just keep being grandparents that try to get access and have a bond with the child and keep a good relationship with the parents of the child. Do not try to take the child by force but just keep using the court process and be prepared for any home visits and give any info the court requests asap so that the process does not get slowed down.
The parents need to have the courts terminate the guardianship since the grandparents are overstepping their bounds as guardians by denying everyone access to the child. You can help the parents and then the parents need to assign guardianship to you and your husband. The judge will remove the child because it is in the best interest for the child to know all his grandparents and his parents.
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