Please realize that you don't have the parents you wanted, needed or deserved. Don't waste 20 years chasing ghosts. Find a way to become independent and take care of yourself. Re-home the dog, if need be.

Maybe consider a live-in nanny position and get back in school to upgrade your skills.
You can do this. You need to do this before you fall deeper into the hole your parents dug for you. Some won't like to hear this, but you are a poster child for divorce.
Big hug and good luck to you.