Perspective is important. You understand that there are at least two sides to every story. The conflict you're experiencing is important to you. You're open to listening, but it just doesn't seem possible to resolve this on your own. You want a resolution that's complete, binding, and enforceable. But you wish there was a way that didn't involve a courtroom.
Mediation is a process whereby a third-party neutral (called a mediator) sits down with two or more opposing parties to collaborate an agreement. Mediation is often court-ordered in court cases that involve child custody and placement disputes. However, mediation can also be initiated without a court order, by agreement of the parties who are seeking to settle their dispute. Mediation is generally a more efficient, economical, and amicable means of resolving conflicts, including disputes involving divorce, paternity, child custody, guardianships, financial, landlord-tenant, and business disputes.
Do all that you can to live in peace with everyone. Romans 12:18