A guardianship would be granted by the judge. You would need to petition the court to return custody to you. This would likely need a lawyer.
You would need to petition the Court that entered the guardianship order to terminate the guardianship on the grounds that the guardianship is no longer necessary.
If it was truly a temporary guardianship, check to see when it expires. While they may now be extended in some circumstances, temporary guardianship cannot be for more than 90 days.
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