Living with abusive parents at almost 30 years old (this is VERY long)

I need help but I don’t know what to do. I’m not even sure if I’m posting this in the right place. I have grown up in domestic violence. My parents are abusive in nearly every form. They refuse to give me access to my bank account (please refer above to my age) as their original claim was that I wasn’t mature enough for it to only be in my name (it was made just a few months before I turned 18 as I had just accepted my first job) but now they don’t really give a reason. They just will not take their names off of it. It may just be my mom on there I’m not totally sure. But they will not allow it to just be in my name. I don’t have a driver’s license. My mom’s reasoning when I was in high school was that my grades weren’t high enough. When I graduated, the reasoning was that I could never afford the car payment/insurance. She has worked in insurance for years and claims that you still have to pay car insurance when you have your license, even if you don’t have a car. The driver’s license issue was between 2013-2016 I believe. Just a few months after she said that, they started charging me “rent” bc I apparently said something smartass (fyi, anything she doesn’t agree with when it comes to me she takes as smartass, we can never disagree peacefully). I currently pay $600 a month as a few years ago, I quit paying them due to being in my third abusive relationship and being completely in over my head with that. I didn’t know which end was up and I was constantly being pulled in a million directions. My “rent” at that time was $400 but they started charging me $200 more for not paying for about a year (I dated that person for six months). They are not keeping track of how much I pay, they’re just draining my bank account and blowing it on whatever. The house is a wreck (it’s a mess and is falling apart by the day), we have TWO cars that absolutely will not start and they will not get rid of them. They take most of my paycheck every month (my job pays monthly) yet they’re more financially screwed than I am. There have been times they’ve asked me to sign up for a credit card for a store because neither of them are able. I ended up not being able either. My parents are well known in their jobs and no one would ever believe they are like this. Friends and family would be in disbelief, possibly even our entire town. I am at a loss. We have family as first responders so I’m not sure how calling the police, if I had to, would go. I need help, I need support, I need so many things. I’m also undiagnosed adhd/autistic, anxiety, possible depression and ocd, they’re in complete denial that I am). What do I do?