It’s almost impossible for emotional abuse, I have tied 🙁

Usually an order, depending on type and reason will lay rules around changeover. There might an easier for you to do changeover i.e. with another person present or in a public place. This would be easier than an intervention order which would likely be hard to prove and will set your co-parenting relationship back even further.

If its about changeover mainly, we used to do it on a Monday when the kids were at school – one drop-odd the other pick-up, this meant we didn’t see each other lol.

It’s one thing getting this when you’re still partnered but another getting it as co-parents. It will be seen just two people who don’t along anymore. As suggested, and without knowing the full details of your situation, I would suggest finding alternative ways to work through it.