The whole point of being a parent is to raise DC to be equipped with the life skills they need to function independently in society and independent of you.
What exactly are you achieving by making her so dependent on you so much so she has reduced you to her personal slave?
What happens if you are hospitalised or worse?
You teach her to cook, use the washing machine, etc and withdraw your services in every way.
You get mental health support for her so you have back up before she turns 18 so before she is no longer a child.
You start by going out more on your own or getting a job so you are not enabling her or your DH anymore.
You do not give any service like cooking or cleaning up after people who don't treat you properly or speak to you with respect
Raise your boundaries and make more of your life. Get your backbone back, you only live once and you are only treated badly because you allow it.
Stop allowing it! Stop doing things for anyone who doesn't appreciate you!
Life is about give and take. Why have you skewed the balance so it is just you giving and the others taking?
Never do any laundry for someone who is nasty to you! Let them do it themselves. Let them become fully independent of you as it is not healthy for anyone to be so co dependent.
It's time you enjoyed life and so ignore the toxic fall out while you forge ahead and create a life you are happy with.
Put yourself first and prioritise a job, hobbies and making friends. This will make you a good role model to the others.
You can't help others unless you help yourself first.
Let us know how you get on.