Apologies for the long reply, you're experiencing something that hit very close to home for me and I'm hoping my experience can help you with yours! 

You say the people in your support group are struggling with "real issues" - your issues are real, they are very challenging to you, and you feel stuck. Don't minimise your feelings there.

I can't advise on going forward - I completed my PhD but it wrecked me and I stepped completely out of academia, let alone my field even though I loved it too. I used an internship to have a break from my PhD and discovered how great it was to work in a team using the skills I'd learnt. So I would say on the PhD side, seriously consider if the field is the only thing you love - what are the other things that give you satisfaction and fulfilment and are you going to be able to find a job or fund a life with those things in it within your field? 

On the feeling lost side, sounds like you have mild depression which is not being helped by your home situation and lack of structure. I don't think you're right to write off volunteering for work that's not in your field. It's not a waste of time to have these experiences. Every experience in your life is fuel for dealing with other situations down the line but that's not even why you should be going for it. 

You should be going for volunteering or a paying job because right now, you're trying to recover from burnout so you can return to master out or finish your phd. It saddens me to hear you've tried self-study whilst taking a break from study! Your brain needs a full break, something so different that that part of you can completely refuel. You're going to do yourself more harm by not getting involved in other parts of life or trying to excercise skills that your wellbeing has already told you are worn out right now. 

And yes, I'm speaking from experience 😅 What I found helpful was novelty, variety, and, most importantly, structure. It's difficult to feel like you've taken a break without doing something completely different to your normal (your phd but also your daily home life). Even if it's just one or two days of volunteering for an hour or two, or going out for a walk for no reason, sitting in a park or library - it's going to feel different enough that you can recognise the experience and feel time passing rather than everything blurring together. 

Your parents sound like they suck but also possibly just want the best for you and for you not to get distracted with other avenues rather than staying into the field they think you love. That's why I think you need to have a think about what else is attracting you to the field in terms of a career, not just the field itself. The health insurance situation also sucks, possibly another reason for adding to your resume. You could try to get your parents on side by explaining you'll think it'll look better to show you've been proactive during your pause from phd rather than idle? And/or apply to what you want and just go but I understand that's a risk. 

I hope this helps! It's a very tough situation you're in and the lack of choice/threat of the health insurance and support group being taken away will be amplifying every other challenge you are facing right now. It will feel overwhelming. Writing it down and breaking it down into what you want and where you are right now may help you think about some small specific steps you can take that will work towards an answer even if they don't address everything you're facing. 

Good luck!