Okay - looking through your history, kiddo is 9ish.
A few thoughts on how you can help your daughter even w/o counseling. At 9, she is old enough to brush her own hair. You can work on that with her. You can also help her learn a few easy things to do to keep it from getting horribly tangled. No- I don't care that you're a man and "don't know how to do hair!" - many have come before you and learned. YouTube is a wonderful resource.
As for p/u drama..... Why can't you two two do your big huggy thing before you're in front of Mom? Your kid's not two - she can say her "big" goodbye before leaving the house. That's what we did. Then when we were where the other parent was, it was a simple "Love you! Have fun and we'll talk soon! See ya in two (or whatever) weeks!" Why do YOU add to the drama?