Honestly as long as you live with your parents in their house you'll be treated as a child in a sense. That's just how it is.

My daughter left home right after high school to go to college and she never came back (I mean she does come back but for visits, she never moved back home). When she visits, I unintentionally treat her like a child. lol like remind her to wear a coat or worry where she is at if she goes out etc But that's just during visits so she puts up with it lol

I think it's very kind of your parents to want you to stay with them full time. But I would set a goal to keep full time job and eventually move out. If you keep working full time eventually you can get a small apartment.

Also I wouldn't blame your parents for not allowing you to grow up. If you cannot afford to be on your own, then it's not their fault. And they don't want you to pay for things because they know you can't afford much so they don't feel it's fair or kind to charge you for things.

I wonder about vocational rehabilitation services for you. You might need assistance in finding right career path and right job.

I can find you services in your state (that's what I do for a living, I am a special ed teacher and I transition high school kids into adulthood with help or vocational rehab services). If you have diagnosed disability (you don't need to be ON disability) you qualify for free vocational services