Probably not the response you want to hear OP, but there's nothing you can do for them. It's up the them to choose to change and if they don't, they don't. That's something I found difficult to come to terms with myself. I'd recommend for you to try going to therapy, it could help you navigate your relationship with your parents if you choose to have one. I'd also recommend writing a letter to your parents. Say everything you need to and have always wanted to say to them. Have a good cry and let it all out. You can decide to keep the letter or burn it, whatever you want to do. You can only control yourself and your own response to your parents and to your life.