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If my husband and I agree on a custody arrangement, can a judge override it?

Question Details: My husband and I are getting a divorce after 11 years of marriage. We have a 10 year old daughter together. Since we separated 3 years ago, my daughter has lived with me full-time and he has been unemployed the entire time and has not paid any kind of child support. We do not have any joint assets and there is no property to separate. I paid off all of the joint bills that we had. I am paying for the divorce myself so I am looking into using a paralegal or just filing the divorce papers myself instead of using an attorney because of the cost. He and I are in agreement on everything including the custody arrangement. I have heard that the state likes to do joint 50/50 custody but that is not what we want. His living situation is not a safe one for our daughter because his roommate has a mentally ill son. He is also trying to go back to work at a strip club and he will be working nights, so overnight visits are not an option. I make sure she sees him at least twice a week, for his birthday, and on holidays. He can see her anytime he wants and he will begin paying me child support as soon as he is financially stable enough to do so, and all the money will go into her savings account to pay for school clothes, soccer equipment, birthdays, etc. He is in total agreement with me on this arrangement and is willing to sign the divorce papers with that arrangement. My only concern is what the judge is going to do. So I'm wondering, is it likely for a judge to force me to give him 50-50 joint custody in spite of him agreeing to the terms?

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