Taz is 100% right. CSA or not, these boys need help fast. It sounds like they're being treated like stray dogs. If you're buddy can't take them in, then someone should make a phone call to the right people in Texas and keep making that phone call until something is done for these kids.
One thing, if Jerry is willing to help these kids out, then tell him to bring them to him and get them safe before he starts messing around with custody procedures. I'm not saying kidnap them or anything crazy like that, but if the person who has them now is willing to move the kids out, then he should go for it. Nothing will fuck it up faster or slow down the transfer more than getting legal/CPS involved at the wrong time.
If you fall down 10 times, Stand up 11.