“G. calls KAL ‘Mommy’ and LEL ‘Daddy,’” and “although they live in separate households,” they “have created a nurturing family environment for G., including a well-thought-out, discussed and fluid method of sharing parenting responsibilities between their homes.”
"Their homes" meaning the adults' homes. The kid *has* no home. If the judge was smart (well, smartER; smart would have meant saying NO), she'd have told the adults to pick a permanent residence for the kid and have them rotate in and out. See how it feels for them to have to keeping packing up and moving/shuffling from one place to another.