I'm sorry to hear of the family breakdown (& thought I'd offer my opinion from the other side- if it's not welcome please let me know)... Can I ask what your previous falling outs were about?
My advice would be sort out the relationship (try to think back what they have said, what you have said) with the parents first and foremost and not go around them for access.
I know that if my parents or anyone took me to court for custody that would make things worse!
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