I can relate to your anxiety. They were emotionally intrusive, and it's hard to shake that off even when they're not around.

I've been no-contact with my abusive parents for almost 12 years now. I managed to hide my whereabouts for 10 years. They're very enmeshed, especially my mother, and I knew I wouldn't have peace from them if they knew where I was. My mother hired several private investigators throughout the first 10 years to find me. When she got my home address, she and my sister came to town. She was ready to show up on my doorstep, but my sister stopped her (I'm grateful to her for that). In the end, I renewed contact with my sister, which keeps my mother satisfied, for now.

I'm not in contact with my brother because I know he won't honor my request not to share details of my life with my abusive parents (as my sister does). Having them know anything feels intrusive to me. I suspect when my father dies, my mother will show up on my doorstep, and I dread that day. Even though I'm aware of her manipulation, controlling personality, enmeshment, emotional instability, etc., (she's also sexually abusive) and I'm confident I won't succumb to her dramatics, I just hate the thought of having to deal with her at all.

What RedEagle said about emotional abuse being about parents using a child to meet their needs and ignoring the needs of the child is true, but that isn't necessarily about an inversion of the parent-child relationship. That's called parentification and is a specific form of emotional abuse. That's when the child has to take on adult responsibilities because the parent can't function. I didn't get the impression that this is what you underwent, but what you described is definitely emotional abuse.

You're a strong person to have left that toxic environment! All I can say is that it takes time to settle into an environment where you don't have to deal with toxic people around you. Suddenly you can do and say what you want without fear. It can be overwhelming in the beginning. Practice self-care. I agree with Purple Heart that therapy can help, provided the therapist understands what emotional abuse is and takes it seriously. Unfortunately, not all do. There are also books about emotionally abusive parents. My favorite, and the one that really helped me, is Toxic Parents by Susan Forward. It's worth a read if you haven't read it already.