I’ve seen your other thread too.
I’d go with an open, frank conversation to discuss options on HOW YOU MOVE OUT. As you have said, you are not afraid that he will become violent, so you do not need to leave at a moment’s notice (unless that changes, in which case head to your parents).
If it were me, I’d suggest living as housemates from now on in if you are financially not able to move out immediately. Assuming two bedrooms, you take the bigger room and share with your DD, and he takes the other room. Do it tonight. Draw the line. Cook separately, do your DD separately, make your own social/christmas plans. See it as a room in a house share. It will be tough but it has to be done.
Tomorrow, call an estate agent/your solicitor and sound them out on how long/how much the process to sell might take.
If you move out, could he get a lodger to cover the mortgage with him?
Start. Saving. Up.
Whatever happens next is going to cost you; if you are on the mortgage and sell at a loss you are half liable for that. If you get out as you came in (which you’d be lucky to do) then you will also be needing a deposit for your next place. So saving is absolutely crucial.
You absolutely have to get out though, there is no way round that and as quickly as possible. This situation is damaging your daughter every single day, with every single interaction. She should not be in this position, no child should and you are the ONLY person able to get her out of this.
Step up, toughen up and sort it out - your future self will thank you for acting so decisively.