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If she has good scores and she has the income to support these loans- MAYBE
The SL market has changed LOTS in the last 2 years-
What makes you think these are hurting your scores? Lates?
Some private loans allow the co-signer to be removed after a certain number (usually 24-48 months or more) of on-time payments.
Unless your daughter has the wherewithal to take out loans, only in her name, to pay off these loans that you cosigned, I don't think you're getting out of it any time soon.
Well, if they're in deferment, then lates shouldn't be an issue right now. I think you might be overestimating the effect these are having on your score. I have over $200K in deferred student loans, and my score is over a 700.
If there is no co-signer release option, then there isn't much you can do.