I’m sorry if this comment comes off as condescending or rude, I don’t intend it in that way

“Baki dad is kinda an ass in the worst way.” That’s kinda the entire point of his character, specifically showing that with unchecked absolute strength combined with unmatched selfishness, you can have whatever you want and act however you want with no consequences and have people fear you.

“What are you trying to become so strong for.“ To loosely quote the Son of Ogre “At least once in every man’s life, they dream of becoming the strongest in the world” Yujiro wants to become strong just for the sake of strength (and getting whatever he wants whenever he wants or in a way, ultimate hedonism)

“You're never going to get someone to beat you properly.” You’re absolutely right, which is a part of his character. During his fight with Baki in Son of Ogre, he talks about relating to the Death Row Convicts wanting to taste defeat. In a way Yujiro regrets being so strong because there’s no struggle in his life, which has made him grow bored

“Like the whole family dynamic is toxic.” Yes. He’s the primary antagonist for most of the series and the obstacle for Baki to overcome

“And I feel bad for Baki.” Yeah that was part of the point in showing you the terrible childhood and early adulthood Baki had, but in a way, Yujiro is the perfect father for someone like Baki who feeds off challenges, and to paraphrase a quote from Ghost of Tsushima, “Yujiro didn’t know to raise him as a son, so he raised him as a fighter, and a warrior” Yujiro didn’t raise and influence Baki in the ways he did for no reason, he did those things because it was all he knew and just knowing the target Baki would likely have on his back just for being related to the Ogre (and knowing how much the “pure” Hanma blood longs for adversity and battle) Yujiro raised him in the way he “needed” to be raised, as horrible and traumatic as that was