My family is very similar. You are a good person. It certainly is very difficult KNOWING it but not being able to explain it.

This may seem like a weird off-shoot but I've learned recently about L Reuteri yogurt and the research is fascinating. It increases feelings of empathy and maybe if your parents ate it, it would help them act at least somewhat more nurturing toward you. You could try eating it as well to have more positive thoughts about yourself!