DCFS in some states is Department of Child & Family Services; the government has intervened in their family situation. Kanye is talking about the underprivileged status of many children who are "in the system" or diagnosed with learning disabilities.
...seen em repo-d, resold, and be driven. Saying like he's seen people at the top of their game getting Range Rovers as gifts, only to see them fall out and have the car repossessed and probably driven right in the same hood by the next hot hustler.
Cam is refering to recording artist Cam'ron and the shit he got to pop is in refernce to the line before this one "..they thought pink Polo's would hurt the ROC" Cam'Ron made wearing pink "Okay" in the Rap community and shortly after Kanye did.
Kanye West felt his lost out in an awards show (possibly reffering to a specific incident), therefore he got 'robbed' of that award, but not robbed as in having your stuff stolen, hence keeping his jewellery.
"Give us free" is a very popular quote form the movie Amistad, a movie bout slavery, where the main character, named, Cinque chanted "Give us free" during a court hearing. Kanye implies he is trying to make the same social impact as Cinque.
A black person in a new vechicle is usually seen by police as an ill-gotten vechicle, racial profiling. V is vechicle. They won't be getting pulled over by the police in their new Vehicle.