Judicial separation

I have highly unsupportive husband and in-laws. It’s a 6 year marriage and I have a 1.5 year old daughter. I have been taking care of all possible household work expected by me, but still ever since marriage there has always been an unstable marriage which has impacted my work life with me changing 3 jobs and finally giving up my work life during Covid period. During pregnancy again there were issues created by parents in-law who are both above 75 due to which I went home for the last 4 months during delivery. Ever since my daughter is born, I still have been living in my parent’s home for every 6 months or so for at least 4 to 5 months due to issues created by parents in law and my unsupportive husband. Until 6 months post delivery, I have never asked a penny from my husband for my and my daughter’s expenses. Now that I am bankrupt, he’s been bringing up my dependency on him from financial perspective. Not just that recently his father was hospitalised and recovered because of diabetes and I was being indirectly blamed for certain health issues that cropped up. I am afraid I might end up in an uncompromisable situation in future and my fear is for my daughter getting impacted for this as my husband doesn’t participate in her upbringing. I am now done with my husband’s attitude towards our marriage and our marital impact on my growing daughter. Would it be possible to get judicial separation and have my daughter’s custody with me? And as I am financially not sound are there any free ways to approach the court for judicial separation?