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After hearing about a police shooting involving an autism caregiver, Holly hosts a town hall to bring together law enforcement and the special needs community. Dolores throws herself a Decades Luncheon.
Holly and Rodney support RJ as he attempts to achieve another milestone and pass his driver's permit test; Uncle Matt reveals his Parkinson's diagnosis to the family, inspiring Robinson to organize a HollyRod-junior style benefit concert.
Two former officers give RJ and Robinson a crash course in police encounters. RJ shocks Holly and Rodney when he says he is ready to move out on his own. Dolores reveals a family secret and begins a search for a sister she hasn't seen in 57 years.