Can she just pick her up anytime and how do I get full custody if I currently have temporary custody?

Hello. You don't have temporary custody. What you have is a temporary delegation of parental powers. If the mom decides she wants her child back, she can revoke a notarized delegation at any time. To gain temporary or permanent custody, you need a court order. This could be done by filing for a guardianship in the county where you and the child reside. You should visit with an experienced lawyer about what you would need to file and prove for this to happen legally.