The reality of family law is that it's expensive for everybody when the courts have to get involved to figure out family issues involving children. A legal aid organization may be able to help you but there are no guarantees. Legal aid organizations are short on cash. If you cannot obtain assistance then you will have to decide whether it is worth finding the money to fight for your parental rights. However, you cannot complain about having child support established if you want your parental rights established as well. You have to take the responsibility with the rights.
It is hardly $10,000. If you are trying to get a simple child support order and visitation, you are looking at under 2000. It might sound like a lot, but consider child support every month for 18 years, and the value of having orders everyone must follow. The OAG is not your friend, so you need a lawyer.