Ex Wife Extortion

The ex wife moved with the children far away and we occasionally met halfway but usually went the full way ourselves so the kids wouldn't miss school or activities as his time was on his days off (shift work so not exclusively EOW) and stayed at his parents condo. This was a distance of 5-6 hours one way.

For context, my aunt I was very close to committed suicide and I was having a mental breakdown and could not travel but he wanted to support me as I was alone in a new town as well as see his children.

We also did not have a written court order in place or agreement

We had asked to meet in a halfway point while explaining the extraneous circumstances, even offered to pay for her gas. She said she would only do it for 1000$ or she will be telling the children we don't want to see them. We raised concerns on the amount and she replied quote "You expect me to bring the kids to you so you can drag them to a funeral and miss their activities and weekend?!!" (Note: I was not going to drag them to a funeral, just wanted family by me for support). We ended up being forced to pay 500$ to be able to see the kids.

Just wondering if there is any legal action that could be taken as we were bullied and withheld children into paying her a large sum of money we could not afford.

EDIT: Text agreement to meet halfway or Full way if time off school allows it.