custody order based in criminal fraud?

Need help with analysis of a custody order, which was the result of family abduction (by paternal grandparents). Parents attempted to move with children, to put a stop to ongoing manipulation, harrassment, false reports to cps, and abuse towards the parents. Grandmother tricked son into filing for divorce, then snatched grandchildren when parents chose to reconcile. Parents then coerced into signing "voluntary" relinquishment of children, with no legal advice as to long term consequences.
Need to find solid approach to overturn this.

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