[NY] Anyone finished with an ugly battle with any tips/help/words of advice?

Extremely long story short: it doesn't seem like I will ever see my daughter as much as I did before I took her mother to a few years ago. During this battle the mother has been a no show, doesn't use a car seat for the 7 year old, does brush her hair, teeth, picks her up early from school on my days so I can't see her, disparages me to her, I've had to call the police on her for showing up at my place, took her for Father's Day, I've seen my daughter three times in the past two months, etc (and we have a temporary order which she's broken with all of the above). We've written letters to the court, we've had court dates that have gone absolutely nowhere except to create another court date. The most recent one I wanted to have a forensic psychiatrist but the mom's side started going after my financials and kept demanding I release them to prove that I should be the one to pay for the doc ($5k per parent and $2.5k for daughter). They know if there was a doctor involved he/she would see exactly what's going on, since a judge has not yet. I make good money but I don't have ~$10k anywhere to pay for this. My only other option is having a trial.

The things they say I do wrong: my schedule is too random (which it is not) and all I do is park her at my grandmother's (which is also a lie). The GAL and the mom have formed a bond with each other so well that her kid and mine now attend the same school. The mom routinely pays the school tuition late, up to $3000 late and I've seen letters sent home that my daughter is going to be suspended. But they are still able to go on vacations during Father's Day and others. The next step they are going to do is go after me for more child support (already receiving $1k+ a month) to pay for a school I had no say in her going.

I now see the ins and outs of family court and what an insane place it is. Does this get better? I am finally in a place in my life where I no longer consider suicide as an option, which is wonderful. I have a significant other who has been wonderful but my daughter's mother has disparaged her too (I suspect, since they had a wonderful relationship prior to court). Can anyone relate to where their child has grown up and understood what is happening? I am sure I am going to lose mid week visitation and only get every other weekend whenever the mother feels like it. I do not know where else to turn to be honest. I just want to move forward with my life but knowing there is going to be another shakedown for money coming for the next 10 years AND I don't even get to see my daughter is so terrible and sick. Please I just need someone to talk to me and give their advice/tips/anything really. I miss my daughter so much. It sucks to feel like the baseline for the courts for being a deadbeat dad is child support and maybe every other weekend. With the first half threatening arrest if that isn't done. Not anything else.