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CPS CAN take the child from you IF they have evidence to suggest that the child is in danger.Now...they can only take the child for a limited time...once they take the child, they have to either file a request (via their lawyer) to the probate court asking the probate court to remove custody or they have to reach an agreement with the parents (sometimes called a parenting plan)
So, if they take the child, and want to keep the child, and you do not work out an agreement with them for return of the child, they (CPS) will have to convince the court that you are a danger to the child before the court will remove parental rights
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