This sounds so much like Hanging by a Thread except it's Carter and Teal'c that go over the edge that Daniel has to haul up. Like your request, it contains Jack yelling hurtful things to Daniel and openly disparaging and doubting Daniel's ability. Daniel also ends up physically hurt and in the infirmary with a hurt and regretful Jack.
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Just in case, it's:
https://archiveofourown.org/works/512886
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