Legal Question in Family Law in Florida

I have a son who currently lives with his grandmother and has been living with her since birth, he is now 14 years old and I would like to get custody of him. the grandmother who was given guardianship from him when he was a few months old has also stressed many times and she can no longer take care of him because he is out of hand, she is also taking care of his other six siblings. The maternal grandmother is taking care of all seven of her daughters children who lost custody and at this point my son who is the second oldest has been causing her a lot of issues and now she wants him out the house she has expressed this to me many times in person and through text messages. I do not live in the same county he does and I now live with my wife and our five children. We really would like my other son to come live with us as well but I believe the grandmother it's going to change her mind once we go to court even though I have saved all the text messages where she said she wants him out. Also speaking with the child services they're not sure if the judge will be up to granting custody due task that were assigned to me when the biological mother lost custody 14 years ago. I was put on a parent plan to complete certain tasks that during their time in my life I wasn't able to do. I am wanting to go to the judge and contest some of those tasks because I believe they are unnecessary at this point 14 years later. Can anyone give me suggestions as to what should I do, how do I go about writing the judge to reopen the case and reconsidering some of those tasks?

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