Guardianship has to go through the legal system but to my knowledge you do not need a lawyer. Now in the case of a divorce I believe both parents have to agree unless one has full custody of the child. The other parent can say they want to be the guardian so both have to agree

My friend is using a para-legal- less expensive!

Definitely in divorce, if you share custody, you both have to agree on everything. If there is not shared custody and one parent is the custodial parent, then that parent has full rights to decision making.

Where do you live? What's the functioning limitations or abilities of the individual possibly getting the guardian? How much do they seriously need one? Do they have 1 diagnosis or several? How high or low is their functioning level(s) ? Are they an aspie? These things determine your answer. Regardless, if the court finds that you maybe able to get it for your child. The court buy law in atleast most states. Will require and assign a lawyer to the adult child. That if the parents can afford to pay for will be mandated too.