I think, CPS doesnt take kids away for no reason. All the allegations cannot be totally false.
I hope that you can try to learn from all of it, whether is was totally your fault, or just partially, and get some counseling and parenting classes.
I'm sure those services were set up by CPS for you back then.
Unfortunately, a court isn't going to award custody to someone who has such an extensive history of substantiated allegations.

I think your daughter needs to be in therapy ASAP because if she isn't, that is also neglect of her mental health needs.

I hope you can heal and take some responsibility for what you may have done to contribute to these problems.

Blaming everyone else only worsens the situation and distances you from your daughter.
She needs a voice and an advocate and that's what CPS is there for. Her safety and well being is what's important, and I hope she can heal from the unfortunate events she was forced to endure.

Only a professional can help you sort all this out.
But if you suspect child abuse or neglect, you must report it.
If your mother took care of her before, and she improved in that environment, maybe the courts can arrange that.

And you dont need a lawyer... Legal aid can usually help you out.
Moving the child around, though, is traumatizing in itself....
So it's best if CPS asseses the situation.
Good luck .