Is there anyone who has lived this life and is in a better place and can lend a helping hand?

I love my mom so much she supports me however much she can but honestly she has nothing left after 20 years of narcissistic abuse which she doesn't even notice since narcissists are so cunning. I beg you for help. Me and my mother support each other so much we do not deserve this abusive father which will never admit for a mistake, and will rather me and my moms mental health to suffer for some materialistic things. He left me and my older brother for 9 months doesn't even care, called me homeless useless trash etc, is nice only when its good for him and he will get something from it; can't even be considerate of the rest of the family; no one in the family loves him, but we can't leave since he is my legal guardian at the moment and my mom has no money, neither do I since as a legal guardian he takes care of my money. I would gtfo already. I am doing everything to make the family work and he is like talking to a wall, my mom sees this and screams and Mcries. She doesn't deserve this ever. Please help us.