Is there some way of setting boundaries so things are turned into a more positive way? For example, if the goal of setting boundaries is met or progress is made that goal appears to be achievable, then you clarified your position and maybe their position.

I hope that means they would understand you better and give you credit for your achievements and responsibilities.

I guess the main goal would end up understanding each other better with a bonus of mutual respect.

That's just feedback for you to consider whether it would be useful in your situation or not. Take what you like, leave the rest behind.