You list your age as 29 and this is too long to be under your mother and father’s roof. Unless one or both of your parents are disabled in a significant way changing your living status with them by planning to move is the main thing to focus on for your transformation. As long as you are living with them, there will be a bubble surrounding your growth.
You may have the perspective that you are living there to save money or help them save money, or that it is convenient. But this bubble is a shield that is keeping you from growing. It may feel like living at home is protecting you in some way, but whatever protects—inhibits. You need to change your thinking by first changing your circumstances.
It is time to plan a move. By living with your parents you are sending the message out to the world that you aren’t ready for independence. Friends won’t want to come visit you if they feel like they are being babysat by having your parents there. You say they were against you going out, so as long as you stay there you are going to carry around that imprint. The reason why you were able to be passionate about so many things is that at a younger age it was appropriate for you and your friends to live at home. But as your friends have moved on you have stayed. This is what is suffocating you.
It is time to plan to leave your parent’s home. Talk to friends, work with a counselor, talk to people at the university you studied at. Speak to your clergy. Make it your mission to move over the next six months. This will bring you the type of engagement you are looking for.