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Rob Rosenthal from Ask the Lawyers introduces an episode focusing on altering custody arrangements post-divorce in New York. Attorney Time Steinberger highlights that any changes must be guided by the best interests of the child, rather than the desires of the parents. The discussion aims to clarify the process and complexity involved in modifying custody agreements within the state. Steinberger emphasizes that the child's welfare is paramount when considering any potential changes to existing custody orders.