lol @ confused control freak! I'm tired, too, I'm afraid. Knackering work, this self-awareness malarkey 
DAP, what you said you're looking for is, indeed, therapy. I do believe you're in a great position to start by yourself, though. I know what you meant about Pandora's box! Thing is, it sort of opens itself - you can slam the lid shut again, but it'll only force itself open later (as I know to my cost). You've only written a little bit about yourself and your family here; I can't possibly know all the right questions to ask. I can only offer you a couple of tips from the beginning of my therapy. Here they are :)
Try drawing a diagram of your family, with circles for each person including yourself. Draw different-sized circles according to how 'large' each person is in your mind, and arrange them - with joining lines, if you like - to reflect the relationships between you. Don't spend too long on this, let it come out the way you feel. What does it tell you? You might feel like adding circles for DH and DCs (if you have them). Post here, if you like, about what you discover. Draw a second diagram with yourself as the biggest circle, in the middle, and the others to suit what you feel would be a more suitable arrangement.
Using your 'emotional brain', write one short sentence to describe each member of your family including yourself. If you're more of a visual person, draw little caricatures instead.
Taking the characters you've just defined, create a short story. Is your story a play/film, a fairy story, a documentary, a novel, a poem? Is it comic, tragic, romantic, happy or sad? Sexy, violent, dreamlike, gritty?
These little exercises can be quite revealing as to where you're at with your relationships - and what questions to ask next. I hope you have fun with them!