I had basically the same issues. It helped me a lot to realize it was his problem and not mine. As kids we internalize criticism but as adults we can develop the ability to accept it or not. Knowing he didn't know the real me but his perception of me also helped. It's hard to have good self esteem when all you hear is put downs but if you can focus on your strengths it can get better.

Respect is a two way street. If you can respect them it might help your own situation. It's NOT admitting they are right about everything, it is not internalizing what they say. When I stopped responding to criticism it didn't stop it from happening but I felt better knowing it was his issue and not mine.

He passed away 2 years ago and I have no regrets. I respected him as much as I could under the circumstances. I'm sad that he passed but relieved that I don't have to deal with it anymore.