Child Custody Rights Defense

In Iowa, a caseworker removed my child based off false presumption/accusation that I neglect my child because of missed doc appointment when really I was waiting for insurance to renew as they had taken me off and were putting me back on it since I was giving labor to a baby on the day of the payment. The caseworker removed my child because she assumed I was using a substance which the removal was a way for her to enforce drug testing as though it was a justifiable reason to remove my 3 month year old. My attorney pushed me to stipulate or agree with them that the removal was appropriate when it wasn’t. Plus no proof. Son was not neglected or abused and hhs never had to prove anything in court for the removal because my attorney told me that’s the only choice I had. How do I stop a termination of my rights in two days and prove the actions by my caseworker focused on separation and never was actively trying to help me. I completed an outpatient treatment and aftercare and therapy and have had * evaluations and no complaints. What actions can I make or bring to court to win this case or stop an involuntary termination of my rights due to their overzealous abuse of power, misconstrued facts, and clear violations of my rights my sons rights and prove a passed use of substance abuse not involving the child being around him any enough to remove a child or end my rights in Iowa

is substance use away from a child or even an assumption of using based off baseless false accusations of medical neglect due to waiting for new insurance card to come into the mail a legal way to remove a child from a home or terminate a parents rights in Iowa