In cases where the child is approaching the start of kindergarten, or will be transitioning to middle school, junior high, or high school, this can be a closer call. Obviously the quality of the school will matter. Fortunately school statistics are readily available, including standardized test scores. The Minnesota Department of Education provides School Report Cards on their website.
The court may restrict parenting time if the parent seeking parenting time may harm or kidnap the children.   The court can do this by limiting the hours of parenting time or limiting the place where parenting time can take place.  The court can require that he or she only visit when another person is present (supervised parenting time).  In very rare cases, parenting time may be denied altogether. 
There are alternative dispute resolution (ADR) methods other than mediation.  Arbitration is an ADR where both sides agree that the neutral third person will decide the dispute.  In arbitration, both parties can agree whether or not the arbitration decision will be enforced by the court.  Arbitration might be used when you can't agree about the value of something and you're willing to let someone else, other than a judge, decide.
Like all states, Minnesota courts begin with a presumption that it's best for a child to have frequent and continuing contact with both parents after a divorce. If possible, judges want to support joint custody arrangements. However, the exact nature of the time-share will be determined by the children's best interests. For more information, see Nolo's article Child Custody FAQ.
If one of us had an affair, how does that affect the divorce? Although it can be emotionally painful and it can devastate a relationship, an affair matters very little for the terms of the divorce . The one exception is if a spouse secretly spent thousands or tens of thousands of dollars on an affair. That counts as “marital waste” and can be calculated into the eventual division of marital assets.
A Motion is a paper asking the Judge or Referee to decide an issue in a case. In a divorce matter, a Motion for Temporary Relief allows you to ask the court to issue a temporary order for child custody, child support, spousal support, and certain property issues. The Temporary Order allows you to get needed financial support while your case is pending in court. The Temporary order will expire when the final divorce decree is signed by the Judge and "entered" by court administration.
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