Simply the answer is no they aren't going to take your child away from you based on the fact that you got late prenatal care. With that being said, a social worker or nurse at the hospital could still call in a report but most likely if that is the only issue/concern they are reporting it will be taken down as a documented call and not an actual report.
The first thing they will assume is you use drugs, get used to that because it's not going to end, even when your in labor they will ask and check you and the baby.
Once they see you don't, you might have CPS in your buissness for a bit but they can't take your baby unless you are an unfit parent because of living conditions or drugs, or you do not have the basics that a baby needs like diapers and a place to sleep etc.
Don't sweat it unless you have done something wrong, if not then nothing can happen to you.
Prenatal care is important, and necesary because every pregnancy is different, even if you had no complications with the last 3, preclampsia and placenta issues can still occur.
However, prenatal care isn't the law. Many women don't even get it and stick to hiring a doula to home birth.