I have epilepsy, and a benign brain tumor. It's impossible for other people to understand what it's like, or what my challenges are, including my parents. (I'm 41.)

I think when other people can't relate to your situation they develop coping or "helping" strategies that are often ineffective. If they aren't naturally sympathetic, they may show their concern for you in ways that can be counterproductive. When they are also your parents they may continue parenting you long after they should. Then it's hard for you to respond appropriately, because people never treated you like a "normal" person in the past.

I suggest trying to talk to your dad about it, but don't expect a miracle. It will take time for him to change. Old habits are hard to break. I do think you should try because the way he treats you, and the way you feel about it, are an obstacle to growth in the relationship. If it doesn't work, you may have to just accept him the way he is, but give him a chance first.