CPS doesn’t usually whisk kids away unless there is abuse or serious neglect. They usually try to work with parents to give them child care classes to help family situations. CPS does not want to remove children from loving homes for no reason – they want to provide each child with a stable, solid home.
I would rather ensure a child’s physical safety and then worry about their spiritual safety. They can’t perform mitzvos if they are dead (and dying because your parent neglected to watch you in the street is not a kiddush hashem).