Check your current orders for provisions regarding travel and permission/notice.

not likely to be enforced - might be able to seek an arrears judgment - ask DES for an enforcement action and see what they think .

Can I pick up my kids if they want to come with me during trial separation when it’s not my time with them?

you have the right to see and keep your kids safe. Until something is filed and a Court has ruled there are no "superior" rights to the children...

I need help with an atty to fight CPS and does low income ir pro bono. For a child who's life is in danger

If DCS has taken your child you should be getting an attorney appointed to you at low or no cost at your juvenile court hearing.