How to heal?

my stepfather would also gaslight me into disbelieving the facts I learned in books and online were not true. Also I have been told by my parents that even I need to push through “my difficulties” it because “it will get better”

I’m a 24 yo make and incapable of living a healthy life by myself IDK what to do luckily I live with my biological father in the Midwest but he’s still kinda ableist but is open to my suggestions it’s just so excusing. I’m always burnt out and my other side the family is narcissists.

I want to go back to being the person I was before the trauma got to me. I’ve gotten therapy before but the effects never last because once my parents see I’m mentally healthy they expect me to work a full time job and stuff. I wish I could leave my parents for ever. Advice?