I wouldn't say that what you are describing is chronic abuse, but that also doesn't make it okay, and you have a right to want to distance yourself and shouldn't be shamed for that. Often, it isn't until we have distance, growth, and children of our own that we can really assess a situation.
I am NC with my parents and it was the best thing I ever did for myself. I grew up with a malignant narcissistic mother and henchman father, and it is was daily emotional abuse and less frequent (but there) physical abuse. I was a very, very, very good girl, especially now looking back, knowing how so many kids can be. I was years beyond maturity for my age, was given endless household chores to do while my mother watched television or talked on the phone, all while doing hours of homework and babysitting, and if I got anything less than a perfect mark on a test, I was screamed at for hours, threatened, and punished. It was a highly critical, controlling, and punitive environment. My mother was/is extremely volatile and the only person who was allowed to have feelings was her. My father is so terrified of her, he will do anything just to keep her happy, throwing his children under the bus in he process. As for your comment about the soap, I did laugh only because that was much more frequent than twice for me, liquid dish soap or bathroom bar soap.
Now.... None of their children speak to them. Where I reached my breaking point was that this behavior continued well into my adulthood. My father actually smacked in the face so hard that he sent my glasses flying across the room when I was 7 months pregnant AND in my own home. Sadly, this was so normalized to me that I ended up being the one to apologize and didn't even tell my spouse. It took realizing that my parents need for control, my mother's drama, and their endless criticism and demands were ruining my marriage and my own experience as a mother. They were sucking the joy out of my life daily as every day, as a grown adult, I was living in fear of their wrath and being "in trouble" and no matter what I did or gave to them, I somehow always was. Simply living my life, going about my day with work, kids, pets, family was enough to make them find some offense that gave them the right to throw tantrums and punish me every way they knew how. They would scold me like I was an unruly teen for simply being an independent adult. (Like if I saw them three weekends out of the month, all they would do was scream at me over not seeing them the fourth weekend, and it didn't matter if my husband and I had plans, etc.) They also started crossing every boundary known to man with my child.
Only you know know what you lived and how your parents make you feel and if you want to limit contact with them, then you clearly have very good reason. In my case, I told my father (the spokesman for both himself and my mother) WHY I was doing this, that I was truly pushed to my breaking point and my health had been suffering for years as a result....and all I have ever gotten is more abuse, endless pushback, gaslighting, denial, and harassment.
So yes, if you suddenly go NC, I would tell them, but don't expect them to apologize. I suspect that if they were the type who would and then change their ways, you wouldn't have reached this point in the first place. Don't expect accountability or closure. Your closure will come from putting the past behind you, whether it's still with them in your lives or not.