Is there a specific supplication or anything that would protect my daughter and reassure me about her safety from getting lost or being kidnapped when leaving the house?

Fear for one's children is natural and motivates one to take measures to protect and care for them. As for excessive fear, it must be dispelled by relying on Allah, remembering His companionship and protection, and knowing that He is the best guardian and the Most Merciful of those who show mercy. Ruqyah and the established Prophetic incantations, such as Al-Fatiha and Al-Mu'awwidhat (Surahs Al-Falaq and An-Nas), can be used.