I can see where your recovery clinician is coming from. I'm assuming that they will have strategies in place for you should you be successful with the court order bid?
At the same time - your DS will not necessarily be happiest there long term, since he has clearly indicated he wants to be with you, and while they'll have things in place to make sure he is well cared for, they can't love him like his mum loves him.
Your DS is clearly not happy with your parents (understandably), and he definitely deserves more than what he is getting from them. I hope the courts listen to you and your DS. And I hope that the strategies your team put in place keep you safe.
Thinking of you xx