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Thank you for your question. It is a little backwards, but when the state takes custody of children, it's responsible for their well being. It's not the ideal situation, but the safety of the foster homes have been assessed and the safety of your home has not.
So typically, someone like yourself would be a strong contender for placement. They would conduct a home assessment and place the kids with you thereafter if appropriate.
But again, the state doesn't know if your home is safe, or even if it is safe whether your home is the best place for the kids. The foster care system isn't ideal and it likely isn't the best place for a kids' emotional needs to be met, but the state reasons that the short-care placement in foster care outweighs the dangers inherent in improper placement outside the foster care system.
That said, have you ever considered filing for guardianship through the probate courts? You mentioned that you had custody of the kids previously, but it wasn't clear if that was through a probate guardianship, a "CPS guardianship", or something else.
If someone has guardianship over children, they have legal custody, so the whereabouts of the parents are irrelevant to CPS. You can find more information here: http://www.gaprobate.org/guardianship.php
Let me know if further clarification is needed. Thanks.