I am so genuinely sorry that you're going through all of this. I also come from an abusive home. You have to take that into consideration, that this is abuse, and that is how abuse effects the victim's psyche. You are not alone, and how you have developed due to their verbal abuse is not your fault. Still, it's incredibly hard to live with (to say the least), but it is possible for you to reclaim your life from them. That guilt, and feeling that low about yourself, and really feeling like nothing will change, that's not you, that's them. Really! I know that can be hard to see when you're the one being abused. Your parents sound toxic. My advice would be to get yourself away from them as soon as possible. Do you have a therapist? Have you told your therapist about their behaviour? Do you have at least one person in your life who you can trust enough to divulge this information to? Finding support could really help. I don't know how old you are, just get away from them whenever you can. If you don't live with them, don't visit them anymore, and don't talk to them. If you still live with them, build a plan to get your life (or your mentality) on track and make a way to get out of there, if you can. And I don't mean by suicide. It's a tragic waste to think that you could dispose of yourself because of their sick heads. You sound like a very important and interesting person.
I'm saying this to you after having a completely horrible day yesterday, for a good portion of yesterday, I was honestly very suicidal. My situation is completely different from yours, but I feel for you.
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Your Aspie score: 186 of 200
Your neurotypical (non-autistic) score: 13 of 200
You are very likely an Aspie