Autism Spectrum disorder was my guess, too. The maturity level, anxiety, impulsivities, limited social circle and understanding, the depression which could stem from having ASD.. it's such a wide spectrum. It could very well be the case. I've known adults with this disorder that you wouldn't think had it.

Are you able to tap into ASD resources and Community Living supports? Are you receiving financial disability income? This may help you build independence while receiving support outside of the family.. build autonomy even more so, without your parent's influence.