How do I get the 500 for covid if I didnt claim my daughter this year?

You get the $500 for a dependent under the age of 17 that you claim.  Did the other parent claim the child for 2019?  Who does the child live with?

There is no clear answer to that question. The answer may well be that you can't get it.

What I hear you saying is that the other parent claimed the child in 2019.  If you claimed the child in 2018, who gets the $500 child stimulus will depend on the timing of the other parent filing his 2019 tax return.  You'll just have to wait and see who gets it.  There's a good chance that neither one of you will get the $500 in 2020.  Instead, one of you will get it in 2021. Whoever claims the child in 2020 is entitled to the $500.

"In essence, the stimulus check acts as an advance of your 2020 income tax refund. This means when you prepare your 2020 income tax return, there will be a line to include the section 6428 credit. The credit on your 2020 return is subtracted by any amount received as a stimulus check in 2020. If the amount you received as a stimulus check is less than the credit you are due, the difference will be included as part of your 2020 refund. If you have been overpaid by receiving the stimulus check, however, you will not be required to return any excess amount".

That appears to say if the other parent gets $500 in 2020 (because he claimed her on his 2019 return) you can also get it in 2021, if you claim the child on your 2020 return.