Relationship-Baby Daddy

Ugh I don’t even know where to start. My baby daddy had left me when our son had just turned 4 months- he felt like our relationship was starting to get toxic which reminded him of his parents growing up so he ended thing, asked me to move out the same day. My parents have been super helpful ever since, borrowing me money, giving me a FREE place to live, even letting me borrow their car (long story), but now my baby daddy had messaged me and said he made a huge mistake leaving me. He said he just wants his family back and he’s wanting to go to counseling so help fix our relationship. He wants me to move back home. He had asked me to stay there overnight and I did. I want to go back home to my family. I’d do anything to make my family work. However my parents have a burning hate for him. What should I do? Again I’m borrowing my dads car so I have to let him know where I am going when using his car, this makes it difficult for me to just go back home to my family. I’m not sure what my next steps should but but I feel miserable being at my parents when I could be happy with my son and his father (my ex). He says we will figure out the car situation if my parents take the car away from me due to me pursuing my family, more so baby daddy. Any suggestions?

Picture so we don’t get lost

Edit: his dad is apart of his life! We share 50/50 custody on a 2-2-3 schedule