Would you be frustrated?

I own my home, married with kids and another on the way. My dad and his girlfriend moved in with me about 2 1/2 years ago under the impression he would be here for 2-4 months...obviously that wasn’t true. In lieu of rent, they babysit for me.

My issue is that I didn’t grow up with my dad much because he was an addict and then he was mostly out of my life after age 12. Since moving in he constantly oversteps his boundaries. Feels the need to do my laundry even when I’ve asked him not to, or “organize” my things, replace things in my house and then charges me for it (without even discussing it with me), etc. he’s spent so much the time I’ve known him criticizing me to the point that any feedback in my life triggers me and makes me feel like I’m not good enough. I get he’s trying to help but I barely know this man and I don’t even let my husband do any of those things...except the replacing of things. He tries to parent my kids constantly to the point that my oldest will go to him and “double check” even when I’ve said something is ok.

I’ve tried to have conversations with him time and again and it always turns into a fight because he refuses to hear my opinions. Today I came home to him organizing my garage because he wants to work on his car in there, even though I’ve expressed that I didn’t want him to. I explained that my husband and I planned to work on the garage this weekend and I preferred that he leave my belongings alone. This turned into an argument and now I’m at a loss. What would you do in this situation?