A judge ruled Friday that a resentencing hearing for brothers Erik and Lyle Menendez can go forward next week, potentially clearing a path to parole decades after they killed their parents.

Attorneys for Erik and Lyle Menendez will make their case that LA prosecutors should be removed from the resentencing case.

TODAY, ERIC AND LYLE MENENDEZ ARE DUE IN COURT TO LEARN ... the Menendez brothers fairly, and that the reassignments of Theberge and Lunsford were "internal staffing decisions."

As the fight to free Erik and Lyle Menendez heats up, bombshell details were revealed about troubling behavior both brothers showed in prison ahead of their resentencing hearings.

The Menendez brothers will get their day in court—again. On Friday ... the brothers could be allowed to walk free. The ruling is a major victory for Erik, 54, and Lyle, 57.

If the court recommends resentencing, the State Parole Board would need to consider the case and issue a ruling on whether to release the brothers from prison.