In that case, it's worse if you have to be close to these people. The things would be tell them how you want to be treated, do it in the same way with them and set boundaries. I'm very bad at setting bounderies.

Ah, wait. There is another way, don't take them seriously and avoid taking their remarks as personal but I have to confess that I take very bad criticisms.
In the case of my father, I don't take it personal bc I know how he is with everyone. So, I sometimes laugh with him about how controller he tries to be.