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It is possible. If you found an employer, you would file a new H-1B and then if approved, you would need a 212(d)(3) waiver which can either be done by the immigration officer at the interview or after just on their computer (take a look at this link):
You can find more information here:
If you get the waiver approved, you would be able to enter the U.S.
Unfortunately, your U.S. Citizen daughter cannot help you until she turns 21. Your 10 year penalty must also pass as well.
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