Not necessarily true, but maybe practically speaking, true.  The court in Arizona is always supposed to look at what is best for the children, not best for your or best from your parents.  So if you have a good job now and you have cleaned up your act, and your children have had regular contact with you over those 5 years, a court may very well find that you getting your kids back is best for them.  However, if your kids now think of their grandparents as their parents and barely know you, the court would likely find for the grandparents, especially if they are more financially stable.