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In order to remove a legal guardian you have to go to the court that made him legal guardian and file a motion to terminate/modify guardianship and you need to ask the court to completely remove him and appoint you as co-guardian with an independent court appointed guardian instead. This is not a complicated motion, you simply need to file it in the court and present your proof of his conduct of not acting properly as a guardian and the court will order the guardian removed.
If you cannot afford a local attorney to represent you to do this, the local legal aid office will assist you in getting this motion filed and getting your brother removed.