Cordell Walker returns home to Austin, Texas, after being undercover for two years, only to discover there's harder work to be done at home.

Walker continues to try to reconnect with his family, but finds that his kids have developed new routines with Liam; Capt. James tells Walker he needs to get recertified to be a ranger, but old memories of Emily hinder his progress.

Walker's life gets more complicated when his childhood best friend, Hoyt Rawlins, returns to town; Abeline is thrilled to have Hoyt home, but Geri has conflicted feelings; Micki has suspicions about the real reason Hoyt returned to town.

Micki is uncomfortable with the spotlight Capt. James puts on her during a current investigation; Walker talks to Liam about their parents and learns there was trouble while he was away; Trey applies for a new job in town.

Walker is forced to resume his undercover identity to keep his family safe; Micki gets caught up in Walker's old case; August threatens to blow his father's cover; Trey starts his new job.

When Geri decides to sell the bar, it throws Walker for a loop; Micki is shocked when her mother drops in unexpectedly.