Can I apply for a temporary US Visa?

Hello, I am from Belgium, currently living in the US. I came to America to be with my fiance and her daughter. We talked online for about 10 months before I came here on a 90 day Esta program to meet them in person at the hospital when her daughter was born in 2017. I went back to Belgium 2 more times and visited on the Esta program. In 2018 while living in Belgium, I got a letter from the Belgian government saying I owed $11,000 for not reporting to unemployment that I was living with my brother. At the time I did not realize it was something I needed to report. In late 2018 I came back to the US on another Esta for my daughter's birthday. I was supposed to leave in February of 2019 but we had car trouble and we couldn't make it to the airport on time. We found out the next day that if I were to go back to Belgium I would not be able to come back to the US for a minimum of 3 years. My fiance and I have been together for almost 4 years now and we will be getting married this year.