Considering estrangement

Hi! I (21F) is considering cutting contact with my dad (52M), but feel very alone in this decision. I have several disabilities and rely very heavily on help from my dad. Whenever I try to set a boundary he will refuse to help me unless I retract the boundary. Yesterday he said that he doesn't think I'm capable of making decisions on my own, and that he has to make decisions for me. When I told him not to he said that he would no longer help me move. When I stated that he couldn't talk down to me he said that he would no longer drive me places Throughout my entire life he has repeatedly told me that I am dramatic, overly emotional, selfish, critical and irresponsible. He said that he completely understand why I got bullied in school, since I'm so hard to be friends with. He has grabbed me to the point of bruises and has physically dragged me across the floor of multiple occasions. I have been scared to cut/limit contact because I have no one else who can take care of me, but i am in the process of getting a caretaker. Most of my family think that I am overdramatic and that while dad has treated me wrong, he doesn't deserve for me to cut him off. They often state how he helps me, and always gives me gifts and tells me that he loves me/is proud of me. My younger brother (18M) has repeatedly mocked me for claiming abuse. I feel incredibly alone and without support. Everyday I have to make the choice of receiving the help I need, or receiving respect. Is there any advice on the situation and decision that you can share?