Both of my parents act like kids and never got their life figured out, and I'm afraid my lack of parental figures has fucked me for good

My dad is a truck driver so I hardly see him. When I do see him, he drinks heavily and is verbally abusive. When I was 10, my dad was abusing hard drugs, so my mom divorced him to live with some weed farmer POS in the ghetto. My mom has told me things like that I was a mistake and I am a disgusting loser, and that I am the reason her life is miserable. I hardly talk to her anymore.

So I never learned any responsibility or life skills and I feel totally behind in life and I am very overwhelmed doing basic things like trying to get my drivers license or graduate HS. We are poor too so that also puts me behind quite a bit. I am not depressed but feel generally very apathetic and numb towards life, only finding fun in trivial things like video games and buying shit.

Anyone have a similar story? How did you recover?