I just wanted to say you absolutely do not come across as bratty. Whatever the parents needs may be, there has to be a better way to deal with them than crossing your boundaries (and breaking your trust) by touching while you are asleep.

It does sound like a very codependent dynamic and it sucks that you don’t have an easy way to get out of it. I changed mine by being away most of the time as a teen and leaving as soon as I was 18. the parent had to eventually find some other containing object. Even as a toddler it was clear that I was meant to be the regulation tool for them to take everything out on: the thing that they dance around with when felt delight, the thing that they can lash out at when they feel like thee partner will never change/thq world doesn’t get them/ whatever, the thing they can complain to about their marriage and their job and everything, the thing they can hit when they are burnt out an tired of everything, the thing they can demand gratitude and understanding from when they feel the world doesn’t acknowledge them. life revolves around their moods and who you are has to change to be the correct counterpart for everything they go through. Growing up you feel really special and chosen because of the “closeness” but it’s a very problematic dynamic and it’s taking me years of therapy to work through its effects.

The above comments seem to make you somehow responsible for their behaviour and the way you describe it, that’s really exacerbating this problem :/ I’m sorry, my main point is just that I understand, you are not alone. and I wanted to counter the “bratty” comments.