A: Yes. That is the purpose of the language that states the court retains jurisdiction to enter orders for college or other post- secondary education costs. You will need to file a motion with the court and you both will have to fill out financial affidavits.
A: Go to the probate court in your town and file the papers for emancipation. The clerk will help you but she/he can not give you legal advice. So long as you are managing your own financial affairs (working and paying for your own stuff) you have a chance at getting the court's approval. However, there are no guarantees. If your uncle will apply for temporary guardianship, he can do so at the same probate court and maybe your parents will just agree. He can then help take care of where you go to school.
A: Unfortunately, right now and for the near future, the courts are pretty much closed for most business. You can file your motion for contempt, however, it will not be heard any time soon. My suggestion is that you take her up on that offer and go there as often as possible. Maybe if you go too much, she won't like the inconvenience and finally let your daughter go with you.