Once I have my new site up, one of the agenda items will definitely be to see about getting legislation in place to make it a criminal act to take children from their families without a criminal trial by jury on a claim of criminal neglect or criminal abuse.
Right now, these agencies can do just about whatever they want for any reason... and they receive funding based on how many children they take.
A good first step would be to require that before the removal of a child even be considered the parents would have to be convicted of a real crime against the child in a jury trial (no forced plea bargains, etc.).
Notice that such a first step would require a criminal complaint sworn under oath before any action at all could be taken at all by CPS.
None of this "someone called and told us" garbage that could be (and sometimes is) made up out of thin air and used to take children simply because the parents are rather poor by societies standards.