You won't need clearance for a child protection worker to visit. If a child is in foster care with an agency, it is nearly always because the state has contracted with them, and they act as state employed workers do. I would let them visit (and I often do), and give them a time that works well for you.

Here, the social worker has to actually lay eyes on the child at least once a month in an in-person visit. If the child can talk, they also have to question the child about their living situation and whether they feel safe. I'm sure the visit is likely just routine.

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