How can I make sure my parents get guardianship/custody of my infant daughter upon my death?

You can't. They would have to petition that court should something happen. The Court would have to decide whether or not to usurp parental rights...

Can a grandparent file a restraining order on behalf of my kids in NC?

You need to speak with an attorney in NC.

?how does

From what you are saying, it does not appear that you are doing anything wrong.

Can the judge grant me a temporary order of protection the day I'm supposed to show up from when I was summons by my kids fathe?

If you want a TOP youl will need to file a petition and ask for one in Court. You cannot just show up on the day of your Custody case and ask for...

What is the procedure to change from non custodial parent to custodial parent?

You would have to show a change of circumstances since the previous order., and that it is in the best interest of the children. I suggest you...

What proof is necessary at aHearing for TRO family offense proceeding where no violence of any kind was alleged in the petition?

You really need an attorney to help you with this. Additionally, it seems that you need a petition to resume contact. Please speak to an attorney.

I normally do not suggest doing stuff like this, because then the tit for tat becomes silly, and makes it much more difficult to settle. I suggest...

Can I ask the NCP to do visitation in my home if there is no court order?

Court's do not like doing that, because they want the other parent to have real visitation not supervised visitation controlled by the other parent.

My mom is saying she will get custody of my daughter if I keep dating?

It doesn't appear to be the case for that in most instances. If you are worried please schedule a consult with an attorney to discuss your situation.

What can I do about a friend who wants to leave home at 17?

I suggest that when your friend is 18 they can do what they want. Ask your friend to speak to a school counselor.