My therapist said it's ok to limit interaction with toxic family. No need to estranged but just see them infrequently and keep conversation to a basic small talk and keep it brief. My dad is a pain. I don't intend to abandon him but I keep it to a minimum. And things are much better

My therapist also told me that these people will never change and will never admit they're at faults because they are emotionally unhealthy. So we just accept the reality and don't allow it to ruin our lives. Her saying it helped me with my parents