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Thank you for your question. I am unclear as to what attorney may have advised them of this option. While it is true that they can sign custody over to you, YOU do not (and typically cannot) transfer custody over to them because by signing the documents, you become responsible for the care of the children. If you give the kids back to them, you personally can be pursued by CPS for neglect by exposing children to a potentially unhealthy or dangerous environment. CPS is not bound by court decrees in that instance as far as immediate safety of the children is concerned, if they get a call that kids are with someone unfit, dangerous, or they are in a dangerous environment, they can absolutely take the kids. Furthermore, if they do not want to pursue drug testing, while it is not proof of anything, it is potentially indicative of a legitimate problem.
Hope that helps.