I’d be asking an attorney these questions. Would think the initial consultation would be either free or minimal cost.
First, if there is a mortgage then there has to be insurance. They cannot have a mortgage on a property without showing proof of insurance.
Second, even if they take you off the mortgage through refinancing they cannot take you off the title without your consent. In fact, they cannot refinance without your written consent as well.
If they are trying to shove you out of the investment (and it sounds like you are not seeing any income here), then they will have to buy out your share. This will give you cash to invest in perhaps another property that you and your daughter can own together and manage it how you see fit.