I read through your posts so I hope I didn't miss anything. Would you consider counseling to help you with your situation, including your self-esteem? It can be very helpful. It would be worth it to look for free or low-cost counseling, since money seems to be an issue. Many counselors offer reduced rates to a few clients, so it pays to ask.

You might also try to find other ways to get out from under your dependence on your parents--is there a laundromat near by instead of going to your parents?

Also, this might be helpful. When your father starts to yell at you, say quietly to your mother and father: "I won't put up with abuse. I'm going now." And then leave. Don't prolong your leave taking. You want your father to see that his action has a re-action from you--that you remove yourself from his presence.

You can stop experiencing your father's abuse by removing yourself from it.

I don't believe you are ready for a serious relationship until you improve your self esteem; but you might go on casual dates out to the movies or dinner without looking for a heavy one on one relationship.