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Place half of chocolate chips (6 oz) and 1/4 cup of milk in small bowl. Cover and microwave on high for 30 seconds. Stir until smooth, set aside to cool.
Place 1/3 of graham crackers into a single layer in the bottom of a deep 13x9-inch baking dish.
Prepare peanut butter layer. Place 1 (8oz.) block cream cheese in large mixing bowl. Beat with electric mixer on medium speed until smooth. Beat in vanilla instant pudding mix and peanut butter until smooth. Very slowly add in 1 3/4 cups of milk while beating until well mixed and smooth. Spread mixture on top of graham crackers in baking dish.
Place another 1/3 of graham crackers into a single layer on top of peanut butter filling.
Prepare chocolate filling. Place remaining 1 (8oz.) block of cream cheese in large mixing bowl. Beat with electric mixer on medium speed until smooth. Slowly beat in chocolate pudding mix, cooled chocolate sauce, and remaining 1 1/2 cups milk until smooth. Spread mixture on top of graham crackers in baking dish.
Place remaining 1/3 of graham crackers into a single layer on top of chocolate layer. Spread whipped topping on top of graham crackers. Sprinkle remaining chocolate chips then peanuts on top of whipped topping.
Cover and refrigerate chocolate lasagna for at least 4-6 hours or overnight before serving.