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Can Parents Restrict Who Their Child Associates With

My wife is the biological mother and custodial parent of my 16 year old step-son. While his father is in prison his father's "friends" continue to "enable" my step-son. They pick him up daily without our consent (with his father's consent) regardless of his responsibilities at home and without our knowledge of where he's going or when he'll be home despite our asking them not to pick him up at all.
Recently, my wife asked one of his drivers, a 60 something year old woman, if she would not continue to pick him up anymore as she had previouslky asked her daughter, the father's ex, and the woman told her that she would continue to pick him up "whenever she wanted." Do we have any control over this? Is there a law against taking a minor without parental consent even though the minor wants to go?

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