IMHO - You, as the notary, are verifying the identity of the signer(s) by their ID. In the scenario you describe, it is up to the parents to provide the adult(s) the child(ren) is traveling with with the copy of birth certificate or guardianship documentation. It is up to the person or agency receiving the Minor Travel Abroad notarized document to also demand and receive said capacity documentation.
Again, just my humble opinion and is not meant as legal advice, as I'm not an attorney.
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