Oh Moose, I know how you feel.
I don't live with my dad but I live in a house owned by my dad, and I just want to get out of there. Sometimes I think the "generosity" of family is a mixed blessing and can be hell, too. For example, my aunt lives right next door. Our garage is messy and has been for a few months. A few nights ago she came over and said if we don't get it cleaned up she's going to tell my dad.... it's like... really? We're all adults here, aren't we?
So, I know it's hard. But you can't live like that. If getting a job can get you and your kids your own place, that is a good goal.