Why does my (20F) boyfriend (23M) always get mad at me for "forcing' him to do stuff?

So for context me and my boyfriend have lived together for about a year and a half now, I go to university and have a delivery job, he works about 5-10 hours a week at FedEx. Every time we get into a disagreement or something he always says he's mad at me cause I "force him" to do stuff and he's sick of being controlled. For example sometimes he goes to take a nap after he's been home all day, didn't do anything around the house we needed to get done, and I'll get home and have to do it. So I ask him to get up and help me first and then he gets pissed. Or I ask him to take the dog out and he says I'm forcing him to do it when he's busy. I asked him not to talk to his parents for a few days cause they keep telling him to leave me and move home or he gets them involved in our relationship and tells them everything about both of us. Also his mom has said a lot of nasty stuff to me like when I was younger and we first started dating she called me infertile because I have epilepsy and told him to leave me over it. I caught him texting them about how he's has a cold and I refuse to take care of him so he's moving all his stuff home to them. I made him soup, tea, took over most of his responsibilies, all I did was ask him to take the dog out and we got into a fight about how I won't let him lay dow. All we do is lay down when we are home. That's literally all we do I'm just confused why he thinks I don't let him do that? I feel like I'm not allowed to lay down cause then the apartment would fall apartment but he says he's not forcing me to do that stuff and "I just don't know how to relax". I honestly think they control him more, if he doesn't text back instantly they threaten to call the police and they actually have called the police to our apartment several times. Even if he is responding, if he says he doesn't wanna call them they call the police or his dad threatens to start driving 10 hours in the middle of the night and actually does it so we can see on life360. He won't set boundaries with them about that he says it's just cause they are worried but he's an adult living on his own I don't understand this. He also has to be stuck on life360 and they call us about where we are and tell us what we can and cannot do. They told him he wasn't allowed to do door dash when I showed him how to do it and freaked out about it but now his mom told him how cool door dash is and he needs to try it??? At first he was mad about life360 but now he says he wants to keep it so they don't get upset. I told him that's a little controlling and he got mad. I'm so confused I don't feel like I control him, in fact I feel like even if I wanted to control him he would never ever take that from me. In the totem pole of who he listens to I am dead last. Please give advice, I'm trying to work things out but his parents have been so disrespectful to me and our relationship and he doesn't defend me but he has never once let me say anything about them.