Rather than waiting for things to explode with your dad at home, have you tried (maybe you have and your parents aren't cooperative) sitting down with your parents and coming up with a plan? Could you insist on contributing some rent--even just a small amount--frame it as working on your own life skills? If they won't take it, could you pretend and perhaps set up your own savings account where you put that money each month for practice (the added bonus to that would be you could be saving up to get out on your own)? Could you insist that your laundry, your bathroom, your bedroom are your responsibility to clean and take care of -- thank you mom for all you do, but I need to learn to do this? These are little things, and it sounds like your mother particularly might be resistant, but perhaps framed the right way, her thinking might adjust? Could you get Dad on board first since you predict he really wants you do be able to do this, and maybe he could support you when talking to mom?