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You would need to file a petition to terminate parental rights (TPR). A TPR is an extreme request and is typically only granted where there is significant abuse, abandonment or neglect on the part of the parent subject to the TPR.
Additionally, courts prefer to grant the TPR only where there is another adult ready to adopt, or step in, so that the child will always have 2 people legally obligated to care for the child.
If the TPR is granted, that would obviously give you "full custody" of your child.
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