At the other end of the caregiver spectrum, we had Senior Services called on us twice by home health aides we fired. Both calls were vindictive, and were complaining about mess that the aides themselves were either responsible for making or cleaning up or both.
In both cases, the worker came out, saw that my MIL was well dressed, well fed, and had someone actively taking care of her, and that the house she lived in was essentially clean, rolled their eyes that they'd been called out at all, and left. They find dementia patients half-clothed, sopping in their own wastes, starving, with bedsores... what they wanted to know was that she was clean, well-fed, and being properly cared for.
One of the reports said there were "feces on the floor". In that case, it was because we'd hired someone to house-sit for us, and she decided that when the cat missed the litterbox in the main house that she was "too good" to pick up the cat poop, and left it there all weekend. We got home, we took care of it...and it wasn't even in the same house that my MIL lived in! Another report said there was sticky stuff on the floor... because the aide spilled a soda and didn't clean it up. We'd fired her that day because she'd also flushed a Depends down the toilet and failed to give MIL proper care that day during her 3 hour shift.
My youngest is special needs, and we had early intervention (special needs therapy) out weekly or monthly for a long time, and the house varied from cluttered to really, really cluttered, and not once were we judged or called for it, even when she DID have injuries from falls.
My husband does family and criminal defense work as an attorney, and he gets frustrated about the CPS cases he sees. The ones that land in his lap tend to be cases where either CPS is overreacting or failing to react appropriately to an honestly bad situation. And the courts tend to rubberstamp whatever CPS says. The majority of cases do NOT land in his lap. I've done foster parenting (and my house wasn't spotless then either, but it was clean enough for the worker), and I can tell you that the kids I interacted with were in the system for a good reason.
They can, and will take babies at birth from parents who've had their rights terminated on children in the past. There was legislation passed in the 90's, I think, that lets them fast track newborns into adoption if older siblings have had rights terminated. That said, they're required to work with families extensively before terminating rights, and ultimately, if CPS asks you to jump through a hoop... I'd jump.
But I'd also be calling a lawyer before letting CPS into my house for that first contact. Threats of warrants are fine, but if they don't have one, they're not coming in. I'll bring my kids out onto the porch if they need to see them, but after talks with my husband, his preference is that I simply say, "I'm sorry, my husband is a defense attorney, and he's advised me that in the event that anyone from law enforcement, ever, wants to come into the house without a warrant, I'm not to let them in. I'm happy to bring the kids out for you to see, and if you want to come back with a warrant, I'm happy to cooperate then. I'm sure you understand."
It was stressful for weeks after every senior services call, even though both calls were determined to be completely unfounded.