How could I do to improve my family situation while also keep a relationship with them?

For context when I was born my parents are custody for not even a year before I was take away by CPS and gratefully my grandparents on my dad's side got full custody

Dad-please don't think bad of my dad he's a good man and he tries and me and him have a close relationship but....he's been in and out of jail since he was 12 and he has been an on and off addict since 16 and yes he has always been in my life but the problem comes in with his and my mom's relationship because he fully believes that she's cheating on him and he has a short temper and he's broken stuff and yells and has to fight with my mom a lot but they've gotten better now and for context my dad has been hit in the head badly multiple times so he's sensitive to light and can't remember some things and he lived with my abusive great grandfather for a year and he's NEVER EVER hit us and would never

Mom-she's....eh I mean she's maybe part of the problem because even my grandma said it she's always played the victim card and has played with my dad's head so much that their relationship is the way it is and she's childish like she use to hide stuff like the TV remote when she was angry and if you tell her not to do something she's going to do it and our relationship is ... distance so for 9 months I was in a foster family and when my grandparents got custody the fostermom gave them a picture album and thank my mom threw it away and tried to blame it on someone else's and she's always on her phone like we can hardly watch a movie together without her on the phone and sometimes you have to yell MOM! several times when standing in front of her to get her attention and she's emotionally distant and our relationship isn't close like I mainly talk with dad and always keep it brief with her but I do know she loves me and for context her mom tried to drown her when she was five and she's has been in a mental hospital once when she was a teenager and when she was a teenager she ran away from multiple foster homes

My second oldest sister aka middle child-i can barely stand to be around her because she's an adult and acts like a child and personality I think it's partly because mom hardly ever laid her foot down and never disciplined or said NO to her and when my sister would tell or cuss at me and I tell and cuss back I'm the only one that would get in trouble despite her literally watching the whole thing and my sister she use to argue with them about everything and she never cleared her room and would tell mom to go F herself to her face and when she moved to Indiana my mom paid 400 dollars to get her back and as soon as she got back she moved out and didn't even come see mom on Thanksgiving and mom's always trying to find a way to defend her

And my grandma always said about my mom is that someone who hasn't gotten love can't show love or something like that and we live in a drug infested tri area where a lot of overdoses gas happened and my dad has overdosed I think 14 times or something like that