Agree. There has been an accusation of SA. Its investigation needs to be given due diligence, to include protecting the probable victim.With the relatives and neighbours now talking, and the mother likely very aware, Rudy needs to be removed from that house...asap.
I don't know how that works with adults, even those who have special needs, if the person doesn't want to leave.
I would think that even if the SA accusation turns out to be not true, as unlikely as that may be, the "time out"/temporary separation for the family would be a good thing to 1) cool off, 2) lessen manipulation by family members of fact finding, and 3) finding out what kind of help RF really needs.
JMO.