@humanvision123, the OP hasn't been talking about her own emotional needs.
From what she has written, her concern is very much with her daughter and how she is feeling. With respect to that, OP is saying she wishes she could talk to (not see) her daughter's father, and that he would be in their daughter's life more.
OP, what is your relationship like with your daughter's grandfather? Could you talk to him about what your daughter has said regarding feeling left out and wanting to spend time alone with her dad?
Ultimately though you can't force her dad to step up (unfortunately). You can make sure your daughter knows her dad's decisions are not her fault, and that you love her. And you can foster her relationship with her grandparents, if she does enjoy going to see them and you feel it is healthy for her.
Or, if having her dad come over for a bit sometimes while she is at her grandparents, but not properly giving her attention or making her feel valued, actually makes her feel worse, you could also consider rethinking whether she should be seeing that side of her family at all as things stand.