It appears you are in bankruptcy - CH 13? - you should be working with an attorney in that legal proceeding to get a feasible plan. The relief from the arrearages can be addressed there. Forget the thought of 'mental anguish etc' - unfortunately that will not be a successful cause of action (the whole country would sue them if it were otherwise).
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If your plan isn't feasible, then you need to submit another plan. Plans are usually not feasible because your income is too low or your expenses are too high. Work with a BK attorney to get this right.