How to cover shoulder and thigh scars?

I have year old scars on my shoulder and one on my upper thigh. (near crotch) I usually only wear pants because I don’t like my legs and the ones on my thighs are easily hidden, but the ones on my shoulder are elevated (I don’t know the word but they look like thinner keloids) so they cannot be covered with makeup. My parents keep talking about going swimming and going to the pool for vacation (I don’t know if we will do this since we’re currently paying for my siblings college) and I have had multiple instances of people asking me to go to the beach, I usually use the excuse I can’t swim but I know I can’t keep doing that. I have no idea how to hide my shoulder without sleeved shirts, and I can’t find any good swimsuits that cover both my arms and upper thighs without the bikini type cut. I want to just come out about this to my parents because my mom has suspected it multiple times, but I’m afraid of my dad’s reaction because he takes about how easy our lives are. (The only reason he hasn’t suspected is because he’s often physically absent in our lives and works in other states for months at a time) I don’t know what to do or how to keep hiding the scars (both physically and mentally)