He left a baby in the car just to go to prayers! So it wasn't anything urgent? How ironic he went to 'prayer' when he wasn't doing the right thing as a father! Now I've heard it all! Leaving a baby to go to something so trivial as prayer. You can pray at home, it wasn't even necessary, it was an indulgence to go. This would be a deal-breaker for me. Any man who puts some silly religion (I am agnostic, so include all religions in this) before his own child would be receiving divorce papers. Full stop. Immediately. You cannot rationalise with a fundamentalist who considers his/her religion to come before you and his own child. That type of person is not marriageable. Or at least needs to marry a fundy like themselves. A normal marriage with them is not possible.
I am concerned though that you were worried about abduction, and not the most important thing of all. You haven't mentioned ventilation/air. Were all the windows wound up? Were any down a bit so she could breathe? Admittedly where I am it is summer and temperatures can get up to 42 degrees celsius so we are constantly made aware that cars are death traps and kill in the summer. A car left for 5 mins can get to 30 degs c. If it's closed up, no one can breathe. Only just 2 weeks ago, not far from me, a woman has been charged with murder. Her 2 young daughters died in her locked car she left them in. It was near 50degs (that is celsius, Fahrenheit it would have been 122) inside when they were found. They were already dead. She has been denied bail and will spend Christmas behind bars. You can bake a roast in a closed up car. (I read someone once tried to do so, left a baking tray with meat on it, and it actually started cooking! rather like the fry an egg on the concrete example) Even in winter, they can suffocate and die from lack of air, before anyone even has the chance to abduct them. So someone abducting your daughter is the least of your worries. Being able to breathe is the main concern. It's lucky she is still alive! She could have suffocated.
Him screaming at you in Arabic is a worry. It seems he cares more about the 'show' of turning up for prayers, than actually being a good person of faith and therefore being a good husband and father. It seems his religion comes first, you and his own daughter come last. I would honestly recommend splitting and filing for divorce. Not just because of his religious fundamentalism but because he puts prayers (which, going to church/mosque/synagogue is not necessary it is an indulgence) before his own daughter's wellbeing. When someone, Christian or otherwise, is so fundamentalist that they are not willing to compromise on something as trivial and self-indulgent as going to prayer, there really is no changing them.
Surely you discussed religion with him before marrying him, though? Didn't you work out if you were on the same page?