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.
"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.
Kanye and his associates are dressed in suits and holding suitcases, which may make it appear as if they are travelling. In actuality, they are getting ready to participate in a drug deal. The cases are full of drugs, most likely cocaine.