Unfortunately all you can do is call the police each time the parents allow him to stay there against your wishes because of your parental rights. You will not be able to file for a restraining order as it would require violence of threat of violence in the household by a family member, so there is nothing you can use as a way to prevent this from happening again other than calling the police each and everytime.
I doubt the parents would want to get into any legal if you call the police on them the first time. You can also ask the police to request that this not happen again.
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