OP,
You sound so lovely.
Your story of your childhood sounds so sad, frightening and lonely.
Lots of good advice above.
You do sound as if you are struggling with your anger towards them.
Trying to push your very understandable anger down.
This is not good.
Anger is sometimes undiagnosed depression.
What I mean is that you are trying so hard to not express your anger you are at risk of harming yourself.
Your father sounds like a nasty abusive bully.
Twice a week is a huge amount to be seeing your abuser.
I cannot imagine how stressful it is for you to be in your parents company when they are clearly neither nice nor good people.
I can't see the value of having such abusive people so closely involved in your life.
I definitely think some counselling would be great for you, to help you really OWN your anger.
You have every right to be angry.
Pushing your anger down is not good for your mental health.
I would look at not seeing so much of them.
You sound like a wonderful mother, but a very sad, stressed one.
You deserve space and peace.
Learning to own your anger and perhaps standing up for yourself will help you.
You hadn't any choice as an innocent child but you do now.
If you do pull back, I think being honest with your children in an age appropriate way is the best way to go.
Your father was not a nice Dad.
He was terribly abusive and your mother stood by and allowed.
I honestly can't imagine the stress involved in being around them, being questioned and being mocked.
No wonder you are so stressed.

