You're in your 30s. At some point you have to take responsibility for getting yourself help, and not blaming your parents for not helping you. You also have the same access to google that we do to find services for those with disabilities. I have a learning disability and, as a teenager (with no mom and a dad who traveled for work) living in area with no public transportation, I managed to find myself a doctor who specialized in learning disabilities and get myself to appointments and apply for the services I needed. I had no idea what I was doing but I tried until I figured it out.

In googling, this is the first site I found that might be helpful for you. But if it's not, keep looking. These services do exist. You just have to make phone calls, do paperwork, etc. It also is within your control to save up $20 for an Uber to one initial doctor's visit, if you want to get things rolling. $20 is like 2 hours of paid work if you're earning around minimum wage. You can make that in a single day. If you want to change your circumstances, you have to do the work. I know it's hard and we all wish we had someone to do it for us. You've been blessed to have parents who, at least some of the time, drove you places and provided for you (even if they sucked at being emotionally attuned). Not all of us have had that and have had to fend for ourselves-- or literally die if we couldn't hack it. I know you have a disability and MI and that does make it hard, but that's why you need services! Those services will help you get where you need to be.

Special Transportation Service (STS)