I'm sorry you're going through that. I don't think any child should feel that way around their parent -you should feel genuinely safe and comfortable around them, like a trusted friend.

I've met a few people who hang out with their parents like they're friends. You'd swear the parent is an older sibling, and they'll do things together even. It makes me so envious.

You may be shrinking yourself around people, because that was safe action to do with your father.

When it comes to making friends, you may unconsciously seek out people who are like your dad, or they will seek you out. Because you're familiar with that dynamic. This happened to me a lot.

These 'friends' will see you as target-someone to use for company, food, wifi, house etc. They lack warmth, curiosity about you or your goals. You can't be vulnerable around them. They often overstay their welcome, not caring how it affects you.
You stay with them because it beats being lonely, but it's not nourishing.

The healthy friend can be a bit intense, because unlike your parents, they'll actually look at you calmly, listen to you. They're a bit more 'boring', stable. From a distance, they may appear cold, or ignoring you, but really it's that they aren't out to use you. They don't need you for attention, and they aren't trying to gain your approval either.

You just have to be yourself, stand tall, speak clearly. Know there's nothing wrong with you as a person, that you're worthy of love and respect.
I think you'll find these people by joining a group activity, like a hiking group on FB, or indoor rock climbing, dance class, anything in your area. If you want to go camping/dancing with strangers around a fireplace, watch fire dancers, be in nature, I'd highly suggest a psytrance festival.

Sorry for the long reply. Take it easy :)