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Yes it is possible. Your daughter can complete documents to establish guardianship of the child to you. You will need to check with California schools to see if the Arizona guardianship documents are acceptable. If not you will need to ask a court to allow you to register the kids in school. or make sure you have California documents completed as well.
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Yes in that case a court hearing could be demanded by the aunt. The mother's prederence would hold greater weight initially if the court has otherwise not assumed control over the child e.g. already remoed the child from the mother's custody.