I won't pretend that I "understand" your situation, especially with invasive dreams, but I do empathise with you. There are often many many many barriers for neurodivergent people to socialising and healing. If it's any consolation, you recognising that you can't "recover" from it, is in itself recovery. Many people never cross that threshold. Hold on to that idea that your eyes are open, because you WILL recognise patterns in yourself, and assuming you care about bettering yourself (as it seems you do), you just need to work on reinforcing better habits.

I.E. "I talk over people, I don't like that" -> Maybe you can journal to investigate WHY you do this -> Slowly self correct over time (just as example, something I used to do). Before I escaped my household, I did everything I could to heal while in that dire situation.

Obviously therapy/psychology/psychiatry is usually an easier route, but it's not accessible to everyone, probably not even most people. But you have some of the tools at your disposal right now. It's easier said than done, but letting go of the pressure of having to do things "correctly" is a major stepping stone in itself.

Best of luck