Thank you for sending in your question to us. It sounds like at age 23 like you need a plan to leave the home. I realize this is not always easy these days due to economic reasons, but I think the time has come for you to realize you are not going to get what is needed from your parents.
I do think a visit with a family therapist with you your mom and dad could be helpful, but I think the more important goal is for you to start finding a way to have a separate life. Often once adult children are launched from the home a better relationship can evolve.
I am assuming that you have already tried to talk to them about your feelings. But if this is not the case I would let them know that their behavior has been a struggle for you. Perhaps this can be the opening to request to see a family therapist.