Parents can sue CPS for violating their 14th Amendment Rights. Children 18 and older can sue for violating their 4th and 14th Amendment Rights and for denial of familial association. This is called a “1983” Complaint. There is a book you can buy that explains that law and how to file a complaint under that law.
A GUIDE TO CIVIL RIGHTS LIABILITY UNDER 42 U.S.C. § 1983: AN OVERVIEW OF SUPREME COURT AND ELEVENTH CIRCUIT PRECEDENT
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In California, Attorney Shawn McMillan has filed suit against CPS (along with Sondra Sutherland, Donnie Cox, and Robert Powell) and has generously shared his documents with his Facebook group. You can join the group and have access. He has also provided lectures and answered questions during a workshop. This workshop was recorded on video. You can also ask questions on the group Facebook page he set up. You can find all of this here:
Here is the link to the Index of his uploaded files: