Stop expecting them to change. You can change yourself without changing your parents.
Your happiness and wellbeing no longer depend on your parents. You can now make independent decisions that dictate your happiness and wellbeing.
Stop blaming yourself for the unpleasant experiences in your childhood. If your parents made you feel unloved, unsafe, or hopeless, it is ultimately their responsibility.
Are you finding it hard to forgive them? You don't have to forgive to start healing and feeling good about who you are.
You can overcome your childhood trauma and have healthy relationships even if your parents and family stay unchanged.
If you can, do them good and appreciate them for being your parents. If you cannot tolerate their toxicity anymore, stay away from them and pray for them/wish them well.