Can you do as another poster suggested and set a family meeting? Tell them that you're going to need them to step up and you'll step back. Be specific. (If anyone refuses to attend you send them an email recap)
-Annie, I've been ironing your bras, I will not be doing that from now on. The iron is in the laundry room. Unplug when done using it.
-Bob, I've been brushing you teeth every night. I won't be doing that, the toothbrush etc is in the medicine cabinet.
-Husband, I've been handling all the shopping and cooking. You'll be taking over the shopping. The list is on the fridge door.
-Mother I've moved you in here and have washed your feet daily. I won't be doing that anymore, there's a long handled brush in the tub for you.
Obviously tailor list to the group/tasks.
Then you sit back and watch all hell break loose. They'll ignore your requests and you will be blamed for lost mail, keys, meals not prepared, clothes unwashed etc etc. You simply smile and say I explained all this to you all on Jan 3. You do not negotiate, do the task, fix the problem created when they opted not to do it themselves.
There is a theory called the extinction burst where when trying to change a behavior it initially become much worse, hits a crescendo during which you MUST NOT give in, then it recedes and the behavior usually improves. As with a toddler learning not to call mama to the crib every 5 minutes, the hardest part is you not stepping back in and doing the thing.
These are capable adults, all of them. Yes you created this monster but its not too late to change. What if you did decide to walk away? They'd have to do these menial tasks wouldn't they? Also for the love of god if you have a son teach him to cook very basic foods, and to do laundry!! We don't need any more helpless adult men loosed on the world, his future wife shouldn't have to continue what you're doing!
Please do some thinking about how you see your life improving and then take steps to get there. Get back into/begin a hobby, make time for your social life, etc.