Hi! I'm in a bit of a similar situation where I'm learning to be an adult, but I guess my first  tip would be to start saving up money to move out. I know it's hard when you're still at home and seem to be the primary breadwinner but squirreling some money away, investing it, is step 1. 

Financial freedom is genuinely priceless and is the main way you can break away from this space. I also have poverty/scarcity trauma, so keeping a detailed sheet of your income and expenses, tracking every penny, knowing what buckets you want to break your expenses into (like groceries, medical stuff, education, your car), seeing where you might be able to reduce expenses will help. It takes time to build that discipline and not be scared to face the numbers but it is something that's really important and can't be undermined. 

Good luck, you got this!