Does anyone know if there’s a way to petition the court (in PA) to expand my custody of my daughter to 50/50 without having to hire a lawyer?

I cannot afford a lawyer but my daughter wants to have as much time with me as she has with her mother. Of course we can’t both be with her 100% of the time, though that’s what she desperately wants, however I know she would be happy enough with an every other week schedule.