His behavior with your child sickens me. Does he expect her to feed and clothe herself too? Does she change her own diaper? He needs parenting classes and needs to start at the basic level.
I would be very concerned about Kendall's change in sleeping habits. Talk to your pediatrician soon. She could be suffering from seperation anxiety due to the recent change in custody arrangements with her not being old enough to handle them. What she is going thru is not normal and you should consider that she is trying to let you know something is wrong in her little world. Either have the doctor write up a report that you can take to the judge or have the doctor call her father directly to discuss this with him, not that it would do any good but maybe coming from a third party???? Then if he ignores the doctors suggestions you have more ammo to get visitation restricted. Again talk to Kendall's doctor but I dont see anything wrong with holding her or trying to soothe her when she cries at night. She needs to feel safe. Letting her sleep with you could result in her thinking she can cry and sleep with you everynight but I still think the good it will do outweighs the bad. When she gets a little older you can reason with her to sleep in her own bed. Theory is when your child needs you at night that you should sleep in their room until they fall asleep. That is a little hard with a baby in a crib.
The two of them getting married is a foregone conclusion. He has nowhere else to go even though his actions show he isnt happy there either. Let is go. They deserve each other and the pain they will cause.
Thank god your BIL is there to watch out for Kendall.