I see a lot of me in what you just posted up there.
I didn't "escape" until I was 33.5 years old.
I hope it doesn't take you that long.
Sometimes we have to walk away from our families of origin in order to save ourselves.
It isn't easy, but it is doable.
And there are plenty of agencies and organizations out there that will help you get low cost to no cost mental health counseling if you need it and can't afford it!
I wish you the best ...