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Thank you.Hiya, and welcome to BYC!
Congrats on the hatch!
For that one that's chirping in the shell, that happens a lot. I wait until it's been at least 24 hours to assist them. Usually they make it out on their own though, just slower than the rest.
Should it get to that point, here's an article that will explain how:
https://www.backyardchickens.com/articles/guide-to-assisted-hatching-for-all-poultry.72886/