From the picture above it looks like you have an extendible stoker stem which will give some adjustment.
You can fit handlebars like this model
https://www.sjscycles.co.uk/handlebars/ ... eel-560mm/ which will bring the grips closer.
We used a pair of handle bars like these
https://www.planetx.co.uk/products/selc ... -handlebar facing forward and up when mum was on the back, and facing back and down when daughter was on the back.
When my daughter first started to ride on the back we had to use a straight seat post with the saddle clamp upside down to reduce the seat height, it probably reduced the height by 5cm. You will need a different seat post to do this.
Just out of interest, if you set the saddle at the lowest height and sit your daughter on the bike, how much distance is there between her feet held flat and the pedals when at their lowest. If there is only a few cms then you could probably use crank shorteners, or wait for her to grow a bit.