You should try positing this question in the family law section to get answers to your question. Good luck.
This is not intended as legal advice. No attorney / client relationship exists because of this response.
yes, file a motion to modify placement alleging a substantial change of circumstances
In accordance with the Avvo community guidelines, this communication does not constitute "legal advice", nor does it form an attorney-client relationship. You should seek counsel in your geographic area regarding any specific questions.
If you have any hope to change this situation, it will be with the help of a very good family law attorney. Use this website to speak with a number of qualified candidates, then retain one that works regularly in the court where your challenge will be filed.