Did your daughter's phone have a passcode on it? If so, it just got wedged in the couch cushions. That happens. Especially if there are lots of children around.
If she doesn't have a passcode on it, why not? Have her put one on it immediately. But even if she didn't, that still wouldn't give anyone access to your phone.
It's really not clear to me what caused you to start thinking that someone has access to your information. Again, people sending you strange emails or texts is pretty much normal these days. Spam is the scourge of our time. But, as long as you don't interact with it, it's generally harmless.
You can certainly restore all of your devices to factory state, not from a backup. That would remove everything on the phones. You could change your email address and your phone numbers. You can get a new Apple ID. However, doing all of that would be a major undertaking and would probably result in the loss of some data and access to purchased content. Probably for absolutely no reason.