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I am so sorry to hear that you are still having such a difficult time getting on with your daughter and do not have full access to your grandchildren.
These kinds of situations are harmful to everyone, especially the children.
I understand how frustrating and angering this must be for you. This is the time for you to act with the most self-restraint.
You know what pushes your daughter's buttons, and angry words are one thing; comments about her in-laws are another; letting your emotions carry you away are yet another one.
Your goal is to allow your daughter to allow you to see the grandchildren. You must be able to influence and control her thinking. The best way to do this is to absolutely avoid all words or behavior that will cause he to react against you.
Even if she has wronged you, you must forgive her and let her know that you love her.
Forgiving others and asking them to forgive you is a way of healing that cannot be surpassed, and something you have done before - with success.
Let me recommend a wonderful book for you:
This book will help to guide you, step by step, to healing all of the ills of the past and will keep you on a path which can bring you to your goal, which is a peaceful and harmonious family.
I know there are many obstacles, but it is up to you to follow the right path and lead others towards resolving your family differences.
I wish you great strength and wisdom, and to that end shall keep you in my prayers.