Yes I've started to add a few boundaries. I'm trying to call both my parents MOM and DAD strictly now, instead of daddy etc.. Feels odd at first which I feel pathetic saying at 31 but it's the truth. I'm also trying to build more me time and trying to do less with my father. I used to do everything with my parents, I mean I literally had no social life what so ever so we would eat dinners out together, go to movies together, you name it we did it as a family. That may sound healthy but it's really the exact opposite when you do it to the exclusion of having your own personality. I think the meetups I'm going to by myself now are starting to help me form some of my own time to myself. Maybe part of the reason I had the little mini blow out I did that I posted about, see the camping trip thread here, was because I found it EVEN harder to work with my parents now that I HAVE separated myself a bit from them. Old habit that used to tick you off mildly may become MAJOR bothers when you start to realize you have an alternative lol.
I'm sorry to hear you had a history of abuse with your parents. Indeed I don't have that with mine, but I still think the environment I'm in is toxic. It's a loving close family on the surface and they mean nothing but the best for me but it's still unhealthy I think.