I can't say I relate, my parents kicked me out, in a nice way, or something.

If I were in your situation I would communicate with them all of the things you have communicated with us here. I imagine you already have, but if it's still a problem for you I think that means they either do not get how important this is to you or they care more about their own agenda. Either way I think it's understandable since you are their child. What this means to me is that they really care about you but they are also broken people, for whatever reason they struggle with letting you become an adult, and so they don't know how to appropriately support you.

It's going to take a lot of time but be patient with them. Realize that this is something they struggle with, know that they don't mean to hurt you, and know that you can help them with this. If they do something that bothers you it's okay to put your foot down and if they are hurting you it's okay to tell them that. In fact I think it's very loving to tell someone when they've hurt you. I hope can you find peace about this and improve your relationship with them.