Seperation rights

I live with my girlfriend but we have realized we cannot continue living together due to unavoidable circumstances. I bought a house and put her on the deed and have two children ages 16 and 12 together. The car she is driving is in my name. She want me to be out of the house which I am willing to let go on condition she can afford to pay for the mortgage and condo fee which I know is not financially capable of doing. I also want her to refinance the car note and have the car transferred into her name to cover myself (she is a very bad money manager). My question is how do I go about writing a legal document to have her agree on these terms. If she cannot afford to pay the house and the car, I will have no option than to take the car away from her and have her evicted from the house. I would not like to hire a lawyer but can I just go to court because I have a restraining order in force for her not to come to the house and for now until Sept 21st. 2020, I have the custody of the two kids although they want to live with their mother and that's why for the sake of the children, I want her to take financial responsibility of the house and the car. Please advise