OP - think carefully, I have friends who are reaching 40 still living with their parents and are watching adult life passing them by, looking back, they were just scared of change in their early 20s and parents who enabled them to stay in a late-teens lifestyle, not encouraging taking the next steps. Even though you've had a DC, it seems your parents still are encouraging you to stay in a child-like state, making your DD another child of the family, along with you.
OP - if you are able to live independently from your parents, then you should do so. You should try being a family with your DP, or accept it's not possible and split up, arranging formal access/maintenance.
(And why would you be alone with DD? wouldn't your DP come home after work every day? When he's posted overseas, why couldn't you move back in with your parents then if you really can't cope sleeping in a house without a man to keep you safe...)
Your posts drip with fear - you are being agressive, but under that, you seem really really scared of change and new experiences, that you couldn't cope, you couldn't make friends, you can't do change... Unless you plan to still live with your parents until they die, at some point you will have to face change. Don't let life pass you by out of fear of trying something new.
What's the worse that could happen? You move in together, after a few months, it becomes clear you haven't made new friends and don't like living with him, you move back with your parents but can at least tell your DD you tried to be a family with her dad.