What kind of lawyer can help enforce guardianship of an adult on the spectrum and in a court-supervised group home?

Nineteen-year-old autistic female was placed in a group home by the “drug” court in Florida. Parents have guardianship over her and want her to come home after she “serves her time.” The court’s liaison is blocking it because an answer the female gave was misinterpreted at the group home as there may be possible danger to her at home. Nothing could be further from the truth. What kind of lawyer best handles this situation in Florida?