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Good afternoon. I certainly understand the situation and your concern. Based upon what you shared above, you would and could try and take him back to court and modify the custody/visitation agreement. You would want to show and need to argue that at this age, the child should have her own bed to sleep in and should not be sleeping with the father and that the father should not be bad mouthing you or talking about you in front of the child. Moreover, you shared that he lies with another friend, so it is odd to have the child there with a stranger. You can ask the Judge to require that if she spends the night, he have a place of his own and/or her own room and privacy. In addition, that he not involve or blame for things, when the child is around or subject her to hear all this.
I just wanted to follow up and see if you had any other questions or needed me to clarify something. I am here to help, so please let me know. Thanks!