My parents doing dirty stuff in front of me…..

Sorry in advance to the long post . I just need to tell someone about this because I always found it weird . so my parents have always been very affectionate towards each other and im grateful to have parents who love each other but , i feel like sometimes it got inappropriate. Let’s just start from when I was younger . My parents do the dirty A LOT . when I was little I always heard my mom from her bedroom while they were doing it . this happened almost every night . I remember my siblings and I heard it . I said to my sister “im never going to look at them the same” . When I said something to my mom she would just say “you should be happy your parents love each other”.Fast forward to my teens . I used to travel a lot with my parents for sports so we always had to stay in a hotel room together. I remember one night looking up to their bed from where I was sleeping (the couch) and my dad had his hand up my moms you know what . I just started crying and my dad got annoyed I think and he just asked me why I was crying then I think he told me to go back to sleep . I’ll never forget that image. My teammates would try to come to my room and hang out with me but they never could because they were doing it in there constantly like one time I knocked on the door with one of my teammates next to me and my dad opened the door with only a crumpled up shirt covering his parts . Also , speaking of being nude , my dad used to walk around naked ALL the time . Even one night my sister had a friend over and the friend slept on the couch only to be met by my father getting up for work butt booty naked . He laughs about it now like it’s a joke but I don’t think it’s funny . Even this morning I walked into their room when the door was open (their way of telling me that they aren’t doing stuff and I usually can come in) and he was spread out on the bed naked and I saw his privates . He then proceeded to laugh and tell my mom “she just walked in and saw my balls “ . I said “not funny” then left . I’ve seen my dad naked all of my life because sometimes he just refused to wear clothes when he thought we weren’t around because “it’s his house” . It’s not as bad now that I told him it made me really uncomfortable but it still happens like it did today. Then later in my life I developed severe mental issues and still have them to this day . I remember talking to my therapists about it but it never really went anywhere. Some of them just kinda laughed about it . The noises from their room never stopped and sometimes I could hear from my bedroom. The thing is I got diagnosed with schizoaffective disorder and when I hear voices sometimes I can hear the sound of my mother moaning in my ear . It’s gotten better but my god it’s horrible. Now even if I see them cuddling it makes me so uncomfortable. Im just wondering is this some kind of sexual abuse ? I don’t know if this is considered normal in any kind of way . I get married couples do the do and that’s normal . Is it a stretch to say that this is some kind of sexual abuse? Thank you if you read this whole thing and it would mean a lot to me if you could give me some feedback . Much love <3