How Can I Get My Mothers Legal Rights To Me Stripped?

Hey Reddit, I (16nb, location: kansas) have been worrying about my father (34m) passing away recently due to some health complications. His death is kind of imminent, and along with the obvious grief, I’m worried that he’ll pass away within the next two years and I’ll have to live with my mother (34f, they are not together, father has primary custody and I do not see my mother). I was kicked out of her house after four very long years of neglect and abuse, and I do not want to go back. How would I go about getting her rights taken in case my dad does pass away soon? My family is more than willing to testify (eye witnesses stuff I guess) and my father has a lot of texts from her degrading me and shaming me. We also have previous documents as well as an open (might be closed as I haven’t heard much about it) and multiple closed cases of abuse (ca, csa, child neglect, etc.) on my mother and her husband. Is that enough?? What do I need? I can’t really afford an attorney, but I’m a very quick learner and can educate myself on the topic. I wanted to come here for advice just incase you all had any incite or experience you could share. Thank you
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