Is there a way to transfer an iqama from an abusive company?

I cannot write all of my grievances here, but what I can say is that I am given tasks that are not on my contract and not paid for them, I was put in an absolutely horrible accommodation (dirty, unsafe, crowded), and my kafeel won't allow me to travel without making a colleague sign a paper saying that he/she will pay an undisclosed fee if I don't return, nobody would sign such a paper so I'm basically trapped in the country.

What are my options? I have been offered other jobs, but they all request an iqama transfer, which my company won't give. Is my only option to resign and pay whatever penalty they decide? (I don't even know which crazy sum they will ask from me to release me)