I'm personally not okay with the control the state has in the "interest of the children," generally speaking.
I can live with it. Sometimes I wish it interfered more.
There's been a case recently, where a pair of religious nutters managed to kill off a second child by refusing to get it medical attention, instead relying on prayer. They tried this four years back with one kid, and that child died, and they were effectively let off and now those useless shits have done it again. And they've seven more children!
If the state had done their job and removed their kids after the first death, the second would never have happened, but no, parents have rights too, and their rights are apparently greater than those of the vulnerable people in their charge.
Some people aren't fit to be parents. This is not to say there shouldn't be oversight, and I think in the case the OP mentioned CPS made a mistake. But if the mistake had to be made, I'd rather it erred on the side of the safety of the kid. A child taken away unnecessarily is horrific, but that child can be returned. A child dead because of its parents is less reversible.