Similar situation here, lived at home until my mid-20s and had a very stunted social life due to it. There's so much good advice in the posts above. You can change this over time, but it is mostly about changing yourself and the way you react to them. They will always (in my experience) keep pushing for things to go back to the way they were.

Keep setting boundaries and creating space for yourself. Don't return phone calls promptly, don't answer any question you don't want to. "I'm not sure" is an ambivalent response to a lot of questions.

You are on the right track