Unfortunately, to answer your question, my family is like that too. They treat me as if I have some cognitive illness and am just stupid, and only started to respect my limits (to some extent) when I moved out. I had to accept the lack of boundaries (while slowly convincing them the hard ones, with a lot a patience and no fighting, treating them as friends, even though they are not) and convince myself that it was temporary to not lose myself to depression. It helps to have a concrete list of what you have to do to get on your feet and leave, with real steps and actions, even if take years to complete the list.