My life was pretty much similar to yours with controlling parents (especially my narc mother) from my early childhood right until I was about 23-24 so I understand what you're going through.

My advice would be to not tolerate their crap anymore and stand up to them. You have a job, yes? You should be able to support yourself. I would move out ASAP. If you can't afford to live on your own with your job money then get a roomate or something. If your father has a problem with you being on your own tell him to **** off. You're a grown man they have no right to treat you like a child.

Then again, I can only speak from experience. After all, it's amazing how one's quality of life improves when their controlling parents are put in their place and said parents slowly start to realize that they have no more power over you.