OK. I was close out of necessity as a small child, pretty distant as a teenager, no contact with my mum for a couple years as a student, managed to keep talking to my very introverted dad even while my mum was batshit (part mentally ill, part plain bonkers and obnoxious).
As I hit my 30s, we managed to have a fairly formal sort of relationship, talking every couple weeks,meeting every couple months, as I'm their only family too.
Once I had dc, I mastered the ability of not taking any crap off my mum - I did tell her that if she didn't do as I said with my baby, she would never see him again (not feed a 3 month old on small chokable items, I think it was), and she and my dad have actually turned into decent grandparents. A day of mum's company is still my limit, though.
Things might have been very different if my mum's physical and mental illnesses and my dad's and my autism had been understood 40+ years ago,rather than everyone trying to fake 'normal' and getting stressed.