I am so sorry you are having to deal with this. She sounds majorly disturbed. People who are bipolar can do amazingly mean and bizarre things to people they claim to care about and then wonder why those people are upset with them. I have such horrible memories of that woman.
Pay careful attention to the eviction laws in the city that your rental home is in. Also pay attention to the repossession laws for the car, etc.... if you decide to take that back (even if it is only to have it scrapped if she has trashed it). If you don't follow the laws, she could sue you and she likely would. After all, in her mind you owe it to her to support her. Of course in reality you don't owe her, but in her mind you owe her.
If you are on her bank account, why not just take the money out of there? Of course she would then stop having money put in there. She would probably subject you to a horrible scene either at your home or somewhere in public if she found you there first. {shudder}
It can be so hard to deal with someone who is mentally ill. Please find support for yourself. From her behavior, it is highly likely that your daughter is using drugs or alcohol. A great many people with bipolar do use these to self medicate their problem. That would make her behavior even worse, and it would be impossible to say what was really going on until she was clean/sober and in recovery for a substantial amount of time.
If you choose to have contact with her in the future, you might want to think about making her prove that she is clean/sober and on medication for her bipolar for a period of 6 months to a year before you are willing to interact with her.
If you choose to not leave anything to her in your will, make sure you check your state laws with an attorney before you do it. In some states you have to leave a small amount ($1-$10 is what I have heard from friends writing wills) to a child that you do not want to leave a significant share of your estate. This is so that they cannot contest the will claiming that you forgot them and would have left them more but you had a brain fart and didn't remember they existed. Yes, people do make lame claims like that and courts sometimes accept them. You might want to say something like "My daughter X received her share of my estate when she was between the ages of 18-38, so I am only leaving her the sum of $5." This lets everyone know that she was not forgotten and she will get nothing more than the bare minimum from you. If she is an addict, it stops her from either spending the inheritance on drugs/alcohol. It also stops her from doing the colossally stupid things that people with bipolar can do with money when they are manic. I could tell you stories about what a large inheritance can do to someone who is bipolar. It isn't pretty, but it doesn't last very long. The money is spent super fast.
Please don't bother going to therapy with your daughter. There wouldn't be any point. Go to therapy by yourself. It can be a wonderful experience. It might take a few tries to find the right therapist, but once you do find the right one, therapy can be super helpful. It can just be a relief to have someone to listen to you and tell you that you are not losing your mind. When you go to see a therapist, listen to your instincts. If it doesn't feel right, don't go back. Go to a different therapist because that one wasn't right for you. Not every therapist is right for every client. It is worth it to go through a couple of duds (or outright idiots) to find the really good ones.
Welcome to our group. Please don't ever feel like someone here will judge you. I promise we won't. You may get a lot of suggestions and ideas, but don't feel you have to take any or all of them. We know they won't all be right for you. Take what works for you and leave the rest. You won't offend or upset anyone by not taking advice given here. (((((hugs)))))