Like others, I think counselling would be a very good idea, but as Blubelle says, the waiting list is long on the NHS. If possible, try and get some privately, near me it is £50 per session and a block of 6 sessions is the usual amount offered. As regards the will, your daughter deserves absolutely nothing if she has made those dreadful remarks to you. You should definitely re-write it in favour of the grandchildren. However, if you just cannot bring yourself to disinherit your D, then split it 3 ways, D and DGC, the DGC not to get theirs until they are 25 (then hoepfully, their mother can't infulence them to give any of it to her). In the light of all this, and if you own your own house, I would definitely think about equity release (or something similar), then spend the blummin money on you! Go on holiday and see the world, buy some beautiful clothes, give some to charity, anything you want - obviously you have to factor in that you have many years left and budget accordingly - but just make sure you spend the money on you and leave them as little as possible!
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& ((hugs)) from me.