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I really feel for you, it really is tough raising kids on your own and you work too. When the kids are with the dad, that is really a great time for you to recharge your batteries and take time out for you, exercise, catch up with friends etc.
I do not get any weekend breaks, my two young children (aged 6 and 1) are with my all the time as they have an absent father. It can be tough and I feel like I have little time to myself.
I have had to plan my days carefully so that it is not all about childrearing and housework etc. I am trying to make time to exercise, meditate and catch up with friends as this keeps my anxiety and depression away.
Have a look at your day, see where you can fit some me time in as you need to be emotionally strong for your kids. Perhaps some time away on a mini-holiday will help.
Going through the court system will not last forever.