Waiting has to be the worst. I am sorry you and your family are going through this ordeal. I had to brushes myself, one with a hospital the other with CPS back in the late 80's/early 90's. Thankfully it was not as dragged out as this is becoming for you. I don't know if you have any certified counselors in your circle of friends, and if not maybe that home schooling organization you joined could point you to a low cost/ free counselor. If you can, it might help you to become proactive and have someone friendly to your homeschooling lifestyle who would be viewed as an authority to sit down with your kids and interact with them in a non invasive way without all the leading questions those on a witch hunt will ask. Then they could do up a report showing that all is well (as well as any of us can be considering life is not some utopian bowl of cherries).
I know money must be tight but if you can I would recommend getting this law book. It may give you ideas and save money down the road on an attorney. There are probably cheaper copies used of previous editions that would save a little, but try to get as current one as you can if you decide to get one. It may contain information not present in past editions before this epidemic of out of control bureaucracy became so prevalent.
https://www.amazon.com/Blacks-Dictionary-10th-Bryan-Garner/dp/0314613005
I am going to continue following you and your families struggle. I hope to read soon that they close your case.