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Is there a court order in place?
Let me see if I can help and please rate 5 stars. It is not uncommon for a parent to be asked at the border for a consent letter - whereby they may refuse to allow the travel. I attach a link to where you can download the a suitable form - https://www.wonder.legal/uk/modele/travel-consent-form-uk
Happy to discuss and please rate 5 stars
It really depends on the passport control at each end - sometimes you'll have officers who will insist on a letter - others will just wave through.