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Dealing with CPS can be difficult at best and a nightmare at worst. If you have a reasonable caseworker the case can be resolved in a reasonable time frame where there is no evidence of neglect or abuse. If you have a young or lousy caseworker the case can drag on for a long time with horrible results. It sounds as though you do not have a fair or reasonable caseworker. In situations like these I recommend demanding a dependency hearing before the judge as soon as possible. That way an independent person can evaluate the actual evidence and make a determination to close the case or establish a service plan. In addition, you are entitled to an attorney at the dependency hearing. Your child is also entitled to an attorney who represents the child's best interest.
I'd also recommend requesting a copy of the safety plan and goals for your child in writing from caseworker and make sure you keep a copy of the same. This way you can prove later that you have been asking for this information and they have refused to provide it. I think once you get this matter before the court and have other people looking at the same you have an excellent chance of having your child return to you if there is no evidence supporting their allegations
I hope this information is helpful and I wish you the best of luck.