If it's any consolation
I grew up with parents that, although they did try their best to take care of me, at the same time there were a lot of fuckups they did to me that quite honestly I'm surprised I even stuck around even in spite of everything
Maybe it was because I had no other choice, could've ran away sure, but that would've made life a lot more difficult for me to manage
I've had some moments where I legit wanted to end my life, but I'm glad I didn't, because my parents slowly ended up improving, and while before I wouldn't really trust them with anything in my life, nowadays I get along rather well with them, especially my dad, I go exercising with him rather frequently and generally I feel open to talking about pretty much everything with him, even stuff that I would've otherwise hesitated to mention even 5 years ago, made me kind of scared even thinking about any timeline where I simply ran away and didn't talk with him anymore and I didn't get the chance to truly repair my relationship with him, but at the same time I'm really glad that it turned out this way
Point is, if someone that did shit to you that most people would resent their parents for the rest of their lives for ended up trying, and kept on trying to change himself for the better, and if I managed to repair my perception of said person to the point where I'm open with him on pretty much everything (literally just the "pulling your dad from the underworld" meme, kek), anything is possible
You just have to keep going even if sometimes you'll end up experiencing setbacks in your life
You won't know if you'll make it or not if you don't try anyways
Good luck Anon