You will need to show a change in circumstance in her home. Seek counsel
In no way am I offering you legal advice, and in no way has my comment created an attorney-client relationship. You are not to rely upon my note above in any way, but instead need to sit down with counsel and share all relevant facts before receiving fully-informed legal advice.
Generally, something is "durable" meaning it doesn't go away upon the happening of some event. So basically, the only way for you to get legal custody back would be to have an attorney present a material change in circumstances to the court. Most attorneys, myself included, offer free consultations either in-person or over the phone.
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