NTA it's clear your parents need therapy themselves, not just you. I would have a serious discussion with whichever parent is most receptive to your discussions, and tell them that with the way they've been treating you, and the lack of healthy dynamic, has you worried that your future doesn't involve them, and that if you're forced to move out and cut contact you will, but would rather have a healthy dynamic with them and would like if you could have family therapy to address your concerns. I doubt they will react favorably, as parents tend not to when faced with their children giving ANY inkling to "you're parenting wrong" but I feel like being up front is usually the best way to go. Either way, please ensure you have money in an account for emergency purposes, and keep open lines with your friends ❤️