*TRIGGER WARNING: FAMILIAL ABUSE AND NEGLECT* not sure what to do

my parents didnt treat me well as i was growing up. they werent severely emotionally or physically abusive, but they were to a certain extent. my dad would try to show off by using his martial arts knowledge on me and then told me "that didnt hurt" when i asked him to stop. he would storm out and leave for hours without me knowing if he was ever coming back. the first time it happened i asked my mom if he was coming back and she told me "i wouldnt if i was him." he literally left because i got stressed out before going out to dinner and started sobbing. i wasnt yelling at him or angry or anything, just sad and stressed. my mom told me he was on antidepressants because of me (he wasnt and he told me that was never true).i would have panic attacks as a kid that i know looked a lot like temper tantrums, but essentially i would be anxious or depressed and id beg them to help me figure out how to calm down. during one of these episodes they told me they had locked my door from the outside and left me alone all night.

they are getting a lot better as im getting older and pointing this stuff out to them. im in therapy and i think thats making them realize what they couldnt before, that i am anxious and depressed. they are currently giving me and my boyfriend a place to live and my relationship with them is improving drastically. i just dont know if i should have a relationship with these people that caused me so much harm and trauma. im their only child so i feel guilty taking their only daughter away from them. i just dont know what to do.