My Son’s Mother Doesn’t Let Me See My Son Without Her Being There And Doesn’t Let My Family See Him.

So me and my son’s mother, haven’t been together for two years now. Since I moved out, I started getting less time to see my son which I expected, but is there anything I can do to have my son and bring him home so he can spend time with me and my family ? My family gets to see my son only a few times a year, and I have no criminal history. Should I be able to have my son at home, without her being there? Whenever I ask if we can make a schedule to have him certain days, she just avoids the question. He is currently 4 years old and I feel like I have missed out a lot on his accomplishments. He is always telling me if he can come to my house when I go visit him and that he misses me.