Am i in the wrong here? Or my parents are?

My SO and i are living w my parents, we have 3 under 3 kids. Until we save up and find a place, we will move out. Its only been 3 weeks of living w them.

My mom was gonna go to work and she ask me if i could take her. Her work is 5mins away, and she can drive herself to work. But my dad doesnt let her take the car, so he always drop her off. My dad still wanted to sleep and my husband was still sleeping. I said i can, but i need to let my husband knows, cause hes gonna wake up soon to find me gone, and hed get upset. So i went to inform him bout it, and he ask me to tell my dad to take her, or my mom can just go herself. He didnt want me to take her.

So i ask them and they literally got upset, they began telling me that i shouldnt live w them if i dont want to do a simple task.

My dad waited til my husband leaves to work and started yelling at me aggressively, tells me he hates me multiple times, calls me bitch, trash, cunt, dog constantly. He said no one likes me, im evil, im the devil. All i ever do is freeload, all i can ever do is fuck my husband and have babies for him. He literally told me to leave. Telling me im a loser cause i have nowhere to go. But i didnt have a car, and i had no where to go. So i stayed.

Later, i just apologized. He told me to not do that ever again, or i will seriously get kick out. He told me to not be upset at the things he said to me cause i was at the wrong.

My husband and i buy the food, i cook the food, i even clean. we help pay for rent and utilities. But they act like we are just freeloading.