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Kroy Biermann wants full custody of the four minor children he shares with his estranged wife, Kim Zolciak, including sons Kroy Jr., 14, and Kash, 13, and twins Kaia and Kane, 11.

Over two years after splitting, Kroy, 39, and Kim, 47, remain locked in a bitter legal battle, with Kroy recently accusing the Real Housewives of Atlanta alum of being abusive and neglectful, and Kim clapping back with claims of a publicity stunt.

According to documents filed by Kroy in Georgia and obtained by TMZ on August 15, Kroy believes there’s no parenting or structure at Kim’s residence, and feels their current parenting plan, which keeps the older children away from the younger kids, is not healthy for their family. As the outlet explained, Kroy and Kim each have two kids at a time, with Kroy Jr. and Kash going back and forth between their homes each week, and twins doing the same on alternating weeks.

As noted by Kroy, the children shouldn’t be kept apart, and he wants to be granted full custody so that they can reconcile the situation and provide the kids with a more stable environment.

“There is a noteworthy absence of structure and accountability in the Mother’s home. The split/shared custody arrangement is not in the best interests of the children,” his legal team explained.

In addition to the children being separated, Kroy alleged that Kim often leaves them alone or in the care of others, and said that, despite the fact that three are struggling in school, Kim has been known to pick them up early without explanation.

“[Kim] shows next to no familiarity with the children’s needs,” he stated, adding that Kim is also emotionally and psychologically abusive, as well as manipulative, toward their kids.

It was also alleged that Kaia had been sent to Montana for the summer to spend time with Kroy’s family due to her supposedly fractured relationship with Kim.

In response to Kroy’s court documents, a rep for Kim denied the claims with a statement to TMZ.

“The claims made in the recent filing are completely false, misleading, and deeply hurtful. Kim has always been, and continues to be, a devoted, loving, and attentive mother who puts her children’s needs above everything else. She has been the primary emotional anchor for her children through this difficult time, ensuring they have a stable home, healthy routines, and unconditional love. Kim has consistently been engaged in their schooling, activities, and therapy, working tirelessly to support their mental health and well-being,” the rep stated.

“This filing is nothing short of a publicity stunt. Kroy caught word that Kim was filing several motions today, so he tried to get ahead of it by rushing to file this document — and doing so unsealed,” continued the rep. “Unlike Kroy’s selective and self-serving approach, Kim files all of her documents under seal to protect her children, not to manipulate headlines or public opinion. By repeatedly filing unsealed motions, Kroy is not only damaging the children’s well-being, he is creating opportunities for them to become aware of these disputes and risk being bullied or humiliated at school.”

“These accusations are nothing more than an attempt to misrepresent the truth and gain legal advantage. Kim remains committed to co-parenting in the children’s best interests and will continue to fight relentlessly for their happiness, security, and stability,” the rep added.