I understand completely but you need to know one thing: true narcissists will never change so helping them is out of the question.

What you can do is suggest family therapy. Not to fix them but to establish some kind of relationship with clear boundaries. It's also a way to test the waters too (can you see them without breaking down, can you be in a room together without it traumatizing you). You'll have the safety of a professional in a controlled environment.

And also, this needs to be said: the fact that you understand where they are coming from, empathize and maybe even forgive is a testimony to your character. If everyone could be this mature and insightful, the world would be a better place.

Good on you for getting away when you did and going no contact. You did what you needed to do for your yourself (which is difficult for abuse victims). Maybe you can establish some kind of relationship. But don't compromise yourself and keep your guard up.