I think you need to sit down with your dd and think about some ground rules. She is an adult and if she is to be treated as one, then she needs to take adult responsibilities. But there shouldn't be a need to shout.
If driving her is inconvenient, then why don't you just say so? Sorry, from X date I won't be able to take you to college so you will have to sort yourself out. Or: Sorry but I won't be able to take you tomorrow, because I am out, so you'll have to get the bus.
If she will do things when left a note, then just leave notes and don't agonise over it. It's nothing to be ashamed or embarrassed about.
Tell her she needs to let you know in advance when she is going to want dinner and that otherwise there won't be any there for it. And then just don't cook.
Don't agonise over how she spends her spare time as long as it doesn't impact on you. She is an adult, what she does with her spare time is no concern of yours. But whether she pulls her weight in the household she shares, so that you get spare time, is quite a legitimate concern.
Like other posters, I don't see why your dh needs to be so involved with things that are between your dd and you.
Are you telling him things because you are secretly a little afraid of saying no to your dd without back-up?
OTher than that, yes your husband does sound like a big part of the problem.