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If there are no orders from the court concerning parenting, then either you or your spouse can pick up the kids. This is precisely what courts nearly always have temporary orders that prevent this sort of altercation, by allocating time to each parent. Your only recourse to resolve the issue is to get temporary orders. That can happen as part of the domestic violence protective/restraining order hearing (TRO), or you can file a separate motion for temporary orders.
As a practical matter, it's usually easier to have the issue addressed as part of the TRO, so, when you fill out the paperwork, make certain you ask the court to make orders concerning picking up and dropping off the children (and whatever other orders you believe are needed).
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PS: If you don't already have the paperwork, here is a link to the Texas Attorney General protective order kit.