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.
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.
My friend recommended this book (Parenting Toddlers: How You Can Use Positive Discipline to Raise Kids Who Will Have High Self-Esteem, Including Tips for Sleep Training, Handing Tantrums and a Guide to Potty Training) and it’s honestly been a huge game changer for me, it’s been so helpful in so many different aspects of parenting! Here’s the link if you want a free copy: https://amzn.to/2LsVSum
If you want to cancel during the free trial you can, you still get the book, that’s what I did haha 😆