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retaining guardianship of teen son

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I live in Missouri. My teenage son will be turning 18 next January. He has a pretty debilitating case of bipolar disorder, and may never be able to live a "normal" life, such as independent living, etc. What do I have to do to retain guardianship of him when he does turn 18, so we can be sure he's cared for and gets every opportunity he can, yet can't endanger himself by trying to do things he's not able to do yet?

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