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Well, the disrespectful behavior toward women after a visit with granddad is certainly a wakeup call, and if it were me, would severely curtail any visits, supervised or not. I would probably set boundaries about the type of behavior and attitudes that could not be exhibitied around my child, and give ONE supervised chance. The first time it was violated, no more visits whatsoever.
The suing for custody issue would be a huge concern. You both need to have a will that appoints a guardian for your son should you both pass. If each of your wills names someone OTHER than the grandparents, it should weigh large in the eyes of the court that neither of you wanted the grandparents to raise your son. In fact, you can actualy state that you do not want them raising him, although it might be painful for them to know that that was stated. But there is really no reason that they would know UNLESS they tried to sue for custody or were appointed as executor. In any case, speaking to a lawyer to protect your son's guardianship is important. No one who is young plans or expects to die, but it DOES happen. Better to be prepared when you know a tempest is brewing than to ignore it and hope it does not hit.