How can I obtain legal custody of a family friends child

In order to adopt this child, both parents rights would need to be terminated. Termination of parental rights can be done by the courts based on...

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If both parents agree to make a change to the time sharing agreement, can they type up and sign something?

Your parenting plan and court order will be the deciding factor always. It's fine to deviate from the parenting plan if both parents agree, but if...