I have no access to the restraining order that was most recently signed by the judge, and your description of the order is inconsistent -- you first say that the judge "didn't mark the 'peaceful contact' box" and then say "the judge gave us peaceful contact". Presumably we are speaking of an order that uses the DV-130 form. Unless the judge terminated the order, which obviously is not the case, unless the judge checked the box providing "Exceptions: Brief and peaceful contact with the person in (1), and peaceful contact with children in (3), as required for court-ordered visitation of children, is allowed unless a criminal protective order says otherwise" then the only peaceful contact that is expressly allowed is "Peaceful written contact through a lawyer or process server or another person for service of legal papers related to a court case".

Perhaps the issue is that the former order checked the box, "The person in (2) must not... Contact, either directly or indirectly, by any means, including, but not limited to, by telephone, mail, e-mail, or other electronic means", and the new order does not? If so, then the parole officer's interpretation is reasonable -- while the order allows for some level of peaceful contact, that change would not lift the order, let alone provide for cohabitation.

While the parole officer will impose terms consistent with the protective order, the parole officer is also going to follow the terms of the criminal sentence -- and if the criminal sentence limits contact even if the civil protective order is lifted, then the defendant is going to have to successfully modify that sentence in addition to modifying the protective order.

Did you actually ask for the protective order to be lifted, with the judge instead choosing to maintain the order subject to the modification you have not yet clearly described for us? Did you ask for the order to be maintained, but with some modification that would allow for the provision of child care and some level of communication? Did the judge explain why he did not check the "peaceful contact" box, or anything else about his intentions, when he issued the amended order?

No, malpractice has absolutely nothing to do with this situation.