Sounds like shes just understimulated to me. I know having a kid keeps your busy, but really, plenty of people with kids find time for their pets, shes also a responsibility. shes not retarted shes just BORED.
there are plenty of activities you can do with both your daughter and your dog:
Maybe try to find some time with her, walk her WITH your daughter in the stroller.
Take her to the park, you and your daughter can have lunch there, take some food/snacks and let emma run around and have fun with other dogs or fetch or something while you and your daughter enjoy your lunch
have "emma time" while your girl is napping. when shes taking a nap, go for a walk with her, play tug, just spend time with her
most dogs.. no matter if they "know better" then to run out the door if they are bored, understimulated and not getting the attention they need are going to bolt. just to get SOME kind of stimulation, even if it means only being outside for 5 minutes while you chase her down.. its better than being stuck inside.
If you really don't have time for her. Then I suggest rehoming her to someone who has the time and can spend the time with her that she needs.
a TIRED dog is a GOOD dog. the more you get her out there and WALK her, RUN with her, PLAY with her, TRAIN her.. the more tired (both physically and mentally) shes going to be. and she will stop pacing and whining.
Doggy daycare and dog walkers are also a great option. Doggy daycare, even if only once a week, would probably help. If money is tight, "play dates" with other dogs in the neighborhood are a GREAT way to get dogs tired out. Talk to your neighbors who have dogs, if they have a secure backyard and a friendly dog, go over there with emma and let her play
For when you cant be with her/shes annoying your parents. Crates are also a great tool, put her in there with a fun treat like a bullstick or kong. now, crates are NOT for all the time. being stuck in a crate all day long is just going to make her WORSE. so if you honestly cannot find time for her to stimulate and give her exercise, then the crate is NOT a bandaid. but for when shes getting walked and seems ok and you just need a place for her to be afor a little while.. crates are very useful