Is it permissible for a father to take back his daughter after leaving her with a relative for 16 years, knowing that she calls the relative "mama" and lives a dignified life, under the pretext that she needs a man?

If the girl's lineage to her father is known, and her relationship with her maternal aunt is merely one of care and upbringing, then she may remain with her aunt if the aunt is trustworthy regarding her morals. Otherwise, the father must take her and protect her from corruption, in accordance with the Almighty's saying: "O you who have believed, protect yourselves and your families from a Fire," and the Prophet's (PBUH) saying: "Each of you is a shepherd and each of you is responsible for his flock." Her expenses remain the responsibility of the father if he is able and the girl is poor.