The one study you’re citing here might suggest your summary statement if “parents on the margin of incarceration” was equivalent to “children from at-risk families”. But those are very different concepts.
You can have an at risk family just by being low-income. Certainly many low-income families are drawn into crime, but by no means all, or even a majority, of low-income families, have a parent who is at the margin of incarceration.
I think the only thing you can reasonably conclude from this study is that leniency in the judicial system towards parents just because they’re parents may be misguided.