The short answer is "yes, it is possible." Since the 2009 Rivero decision, which is explained and linked here, courts can independently allocate legal and physical custodial rights, and can even fine-tune legal custody to one parent in specific areas, such as helath care or education. It is unusual, however, to see a parent "experiencing struggles" such that his or her decision-making capability is questioned, but not his or her ability to properly parent a child physically. But, of course, every case is different. It would almost certainly be best, before doing anything, to consult with a family law specialist.
Answered on Nov 22nd, 2019 at 8:21 AM