Boyfriends parents. *LONG SORRY*

I'm going to TRY and make this short & simple. My boyfriend & I have been dating for one year next month on the 20th, and we have a beautiful daughter together. We're going to be turning 17. We live separately because his father doesn't approve of him moving in EVEN though we have a daughter together & I drive him to work (when he doesn't have school, or when his friend doesn't have work also) and take him home at 10 pm (he got his car taken away from him by his step mom because he got a ticket for speeding, DUMB I know 😒😡). Well it gets hard on me whenever I have our daughter with me and it's cold out & what not (moms will understand with the cold & what not 😒) my mom watches her whenever I take him to work and whenever I go get him, but it's hard on her because she works early in the AM and I have to try to hurry because she needs to get sleep AND his step mom tells me to have him home by 10:40 or earlier OR she will go in and tell his manger that he cannot work until 10 anymore. His step mom paid for his car, BUT he has been paying it ALL back, only has 200$ to go out of 1000$. His step mom said there is a low chance that he will get to keep the car, even though he is almost done paying it off (when he turns 18, if the car is not given & he is moved in with me, I WILL actually be able to say something for once without them threatening him or I!😅🙄), this is hard on us because he NEEDS a car, he NEEDS to be able to drive and also he's paying for insurance right now to his step mom and he isn't even driving (wonderful 🙃) this stuff is just SUPER hard on my mom & I and the baby, what should I do? Because I can't take much more of not being able to say anything without them threatening him & I OF not being able to see each other or the baby...