Can I take my daughter ?

Hi, I’m posting here cause I’m a sahm without any money. If anyone has been through this or knows the answer . I’m in the state of texas . He’s currently having an affair . Treats me like shit and expects me to still cook, clean, iorn and wash for him. He says I can’t leave because he will take her from me . If I try to leave he will call the cops saying I stole her and they will give her to him . That I have no way of winning because I have no income. The car is mine. His doesn’t work . Bills are under my name . We share apartment, bank account . If I were to leave he would lose everything he would be dropped from school, kicked from work from not being able to physically be there . He would end up back at his moms or maybe with the chick he’s having the affair .. I just i don’t have money to pay for a lawyer it’s 100 to even get a consultation. My family lives 11 hours away . I’m all alone here . I’m going crazy and I need an out . But I want to do it safely.