Family court in Missouri is much like life. There are no guarantees. Well, there is one, and that is if you are combative and contentious, you and your soon-to-be former spouse will have a long, expensive, and painful divorce experience.
While there are many things that could improve the child custody proceedings, the divorce process and the courts, most are far beyond your control.
But as with most things in life, you never have a second chance to run through your divorce again and see if you changed some of your decisions, things would turn out better. You only have one chance, so you need try to work toward fostering the best interest of your children.