Some thoughts... it's strange to me that both parents shared custody, and then mom petitioned for full custody and the dad only got visitation. Almost sounds to me like she was trying to keep the dad from seeing him at all. Judges will almost always side with the mom, so maybe dad had to go to court just to get visitation rights, and the judge ruled that she had to let him go. Doesn't really matter to me whether he wanted to go or not, but I would have to question...since he used to live in that area, and had friends there, why would he have NOT wanted to go for a visit with his dad, just so he could be with his friends.
IIRC, the older brother is 21, and from the video of the vigil, he looks a lot like the dad. So his visits would be strictly voluntary, since he is an adult. To clarify, in the video it had his name and age on the screen while he was speaking and I'm pretty sure he had the same name.