What help I can give in this forum really depends on what you want in the end. If what you want is to keep the children with you, I would recommend that you consult with a family law attorney about potentially filing an intervention. If what you want is for one or both of the parents to get the children back, I would recommend hiring an attorney for one of them because it sounds like there is some work to be done before that could happen.
As far as a resolution, at the end of a CPS termination case there are several possible outcomes. CPS could dismiss out and the children will go back to whoever they were with before removal. On the other end of the spectrum, the parents’ rights could be terminated and the children then placed for adoption either by family or others. Then there are several “in between” options involving conservatorship and family members.
Generally, there is not a CPS Handbook provision I can point you to because advice and a resolution really depend on your goals.