Realizing that I will never enjoy being with my parents like a normal family does is sad

For context I'm a man in his late 20's and I live with my partner but sometimes I visit my parents. My mother has a very difficult personality and can be so toxic at times, she tries to change that but always returns to being toxic, I still love her since she is my mother and still does a lot of things for me, but because of her personality I had to distance myself a lot from her. My father is a normal person and has a great personality, everyone loves him, but he always does what my mother says, regardless of whether he likes it or not, he also puts up with her insults, shouting, poor money management, and a long etc..., they should have divorced a long time ago.

Because of that family plans are non-existent, my father and me want to do some plan? My mother always gonna shut it down sharply, recently I wanted to go shopping and then to a coffee place, my father wanted to come, but my mother made a face of incredible disgust and said: "I won't go to that shitty store." I went alone and had a coffee by myself. Having some easy going plan all together with my partner like having a drink? Nope.

Then she'll wonder why I barely stop by her house to visit, I wish my family was normal, but I've already assumed I'll never make any plans with them, sucks man