Let me address your questions in order
1 What happens when we file charges, we also want to get a restraining orders against all of them
This depends. Law enforcement has discretion. That means that they are not required to investigate or prosecute any particular complaint of misconduct. So you can report this to law enforcement…but if they refuse to investigate/prosecute? There is no way to force them to do so. If they refuse to prosecute you would need to sue them to seek compensation for this harassment.
2 Can we file charges without going to court? We want the harassment to stop and we want them to be held responsible for their actions. The town attorney is well aware of them, but we don’t want to drag him into this, we were told this is a civil matter. Will this cost us any money, we don’t have a lot of money to spend on lawyers but they do.
IF the police will prosecute? Then you have no need to do anything. But if the police will not prosecute, you would need to sue them.
You could use small claims court for this.
Small claims is a true "peoples court". The formal rules of evidence and procedure do not apply. So you can represent yourself (no need to hire a lawyer).
The process is simple enough. You head to the county court and talk to the clerk of the court. They can get you the forms needed to start. You file the claim, serve a copy on the defendant and wait for your day in court.
In court, be prepared to tell the judge what happened, and bring in copies of any evidence that supports your case. IF there are witnesses who can testify about what happened? Have them come as well.
Please let me know if you have more questions. I am happy to help if I can. Otherwise, please rate the answer so I may get credit for my work.