In florida the age where a judge can say a child knows truth from lie and can distinguish the two is GENERALLY 13.
The judge will listen.
That said, let us be realistic. How many kooky pastors have we seen in this life? The judge is RIGHT not to trust anyone.
If she has 10 months to go before adulthood and there is no pending petition for emancipation then, if this pastor is serious, the parties need to help her set up an independent adult life. Set her up for school etc.
They don’t have to let her stay with the pastor. They can put her in a group home or in foster care.