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To remove your husband from the deeds and mortgage, he would need to agree and sign documents to transfer the property to you.
You can try and negotiate that with him.
Otherwise a court order would be required to do so, as that is even more unlikely.
Also to be taken into account is whether the mortgage lender will grant you a sole mortgage.
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The allegation made are criminal law, that has no relevance on ownership of property.
Yes if all parties agree there is no need for court correct.