I'm sorry to hear of your dilemma.
The reality is that there is a whole lot more going on here that you have not shared with me. No parent is completely denied visitation unless there is either a past history, or presently believed allegations that suggest that the child is in some sort of danger during unsupervised visitation. Judges don't just order supervised visitation out of thin air---they simply don't.
My not knowing what the background here is---and knowing that as her advocate you can be expected to paint everything in a favorable light as regards XXXXX XXXXX no basis on which to decide how I would proceed---which would be the answer to your only question.
As an attorney I have to work with facts. Now, sometimes those facts are dressed in allegations that are disputed---but even disputed allegations play a part here.
You say that with this judge, an attorney would be a waste of time---and I will say to you that with a difficult judge, sometimes an attorney---especially an attorney who regularly goes before the judge and knows their demeanor and prejudices---is EXACTLY what is needed.
You have asked specifically for me to answer your question, I presume because you believe that I can help you understand the law. Until I know the background and context of Sarah's legal woes, I'm not able to help.