The Underneath by Kathi Appelt. I absolutely loved the books.

“Everyone loses their way at some point, and it’s not just because of their mistakes or the decisions they make. It’s because they’re horribly, wonderfully human. And the one thing I’ve learned about being human is that we can’t do this alone. When we’re lost, we need help to try to find our way again.”

-Under the Whispering Door by TJ Klune