If my wife leaves with our vehicle and takes my money out of my wallet, what do I legally?

What do you want to do -- meaning, are you looking for reconciliation? Did she leave for the short term? Did she move out?

You could file for divorce but while the money was in your wallet, if it was earned from your job then it is marital income and hence it is not stealing. You stated she left with "our car" so she did not steal the car either. If the child is her child, it is not kidnapping.

You could file for divorce and ask that she return your daughter (assuming it is your daughter as well as hers). You could also ask for temporary orders that grant you custody of all the children and give you sole possession of the marital home.

But without more specific ideas of what you are looking at for the long term, your question is difficult to answer.