Val - first of all, my sympathies - this is a bad situation.
There is great, very nuanced and balanced, tactical advice in this thread.
My take on the situation is this.
If nothing is changed, this teacher will harm your daughter.
(Especially, IMO, because your child is a 'pleaser' (that is, it is important for her to 'be a good citizen',etc.). A nonconformist child would probably cause the situation to explode, while a 'pleaser' would suffer internally.)
One year would be bad enough, but 4 years is really aggravating.
In addition, this subject is an area of interest/strength for your daughter.
I could consciously throw an area in which a child is not interested under the bus (which I admit I do), but it is critical for the areas of interest to be protected (to be 'safe havens').
There are interesting details in the second part of your post that give some hope that there may be a way out. I'd really try to see what this teacher is - if she would care about your child's well-being (even if she understands 'well-being' differently - which she might), and, secondly, what is her motivation. (The answer to the first question would drive further considerations, and the answer to the second is just very useful. I apologize if this is too basic, but basic things do get overlooked in the heat of the moment.)
I wish you good luck and enough strength and wits to resolve this.
P. S. My first thought (and, incidentally, the first reply in this thread) was about some kind of partial homeschooling or independent study.
I'd look into CA state (peculiar) regulations on 'parent's choice of schooling'. I suspect you would need the school's good will for any kind of 'partial schooling' (and you mentioned that you do not expect that the principal would help).
