Evil stepmother

Looking for advice. I have been to courts for 15 years for my two children. Am a loving mother who just wanted contact with my children. But judge anyway granted stepmother residency. The thing is my daughter has just been in contact with me after 15years. Saying step mother telling evil lies about me. And sending my daughter abusive texts . All because she is in contact with me her mother, and there going too continue. In sending, her abusive messages saying its all her fault. And they paid thousands of pounds in courts too stop her seeing me. And blaming me as her mother. For all stepmother misfortunes. Now my daughter has told me the truth... she is now 20 and shes very upset they are sending these hurtful messages. Now shes 20 . Can i take it back too court. Cant believe judge give residency too this evil lady. I dont know what my options are cant keep doin this destroying me and my daughter relationship. i have another adult child that lives with stepmother he feels trapped. And i dont know what options i have. I need too protect my child but hes 18 years old and has autism.. and stepmother emotionly abusing him

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