Feel constantly criticised by parents

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I'm early 20s and living at home with my parents and siblings. I'm planning on moving out later this year.

I am struggling with perfectionism and imposter syndrome at work and so I'm a little more sensitive than I usually am and I have noticed how much it feels like my parents are criticising and belittling me but I'm not sure if it's just because I'm overly sensitive or whether they are actually being overly critical.

Here is an example. This morning I was getting ready for work and when making my lunch I was washing fruit and got some water on the worktop without realising. My Mum then walks in and starts complaining that I got water everywhere saying "Ugh! You got water everywhere" I apologised and said I didn't notice and she still carries on complaining about it, it was only a tiny amount of water. I always clean up after myself in the kitchen anyway so I would have got to it when I wiped the surfaces after finishing making lunch. Then my Dad went to open the front door and our puppy was right next to him; our puppy is still being trained for recall and she will run out the front door if she gets the chance so we always have to make sure she's secure before opening the front door. I just said "Oh careful, X is right next to you!" and he shouts back "I f*cking know, I'm not stupid" I said I was only trying to help... Then when I was in the shower he was busy doing something and the doorbell went for a delivery he had been waiting for and he shouted at me because I couldn't answer the door as I was in the shower and starts being passive aggressive about me not answering the doorbell I didn't hear as if I have deliberately done it to annoy him. Then my Mum later tells me how annoyed my Dad is and how much he has been complaining that I didn't answer the door as he was so busy and nearly missed the delivery.

Obviously water on the kitchen counter and answering the door are small things but this is just an example of an average morning. Am I being too sensitive to find these kind of encounters hurtful?

I'd be moving out sooner as opposed to later

This is why I moved out at 18 and never looked back.

They are being grumpy and taking it out on you.
Maybe they're not morning people.
They're irritated with you.
You're irritated with them.
Till you move out I'd keep quite.
Smile and nod.

Nah, they're rude and poor role models.
For now, "grey rock" (a combination of rote apologies / stoney silences / "hmm"/"gosh" /"oh dear"/"sorry to hear that" and spending as much time as you can out walking with a friend or phoning a friend from your room).
Then move out when you can.

Look, lockdown is hard and I'm not saying they're the incarnation of evil, they probably picked up their behaviour from THEIR parents, but you'll be better off living with people who don't choose "nasty and carping" as their first reaction.

How.hard.is.it to say
"Oh sweetie, do remember to wipe up that water when you're clearing up. Thanks!"
Or
"Shame you were in the shower when the postman called, oh well"

...if you have to say anything at all!

Perhaps they don’t want you to live in their house. Early 20’s feels old enough to stand on your own two feet.

I can totally relate, I remember being 20 ish and getting a bollocking for doing all the washing up except my mums porridge bowl, she said it must be because I hated her... no, I’d just left it to soak as the porridge was dried on.

Or if I sat at a certain seat at the kitchen table I would be shouted at for making her sit at a different seat, which was too near the door and therefore a lesser seat.

Mother’s Day/birthday gifts were never good enough either. It’s damaging. Is there any way you can move out? I know it’s not easy these days.

I think you need to think about moving out sooner as it's clear from your post that they are nitpicking and you don't need this sort of thing when you are already having issues.
It will be great having your own place and your relationship with your parents will probably improve

Grey rock and stay away from them as much as humanly possible until you move out, which I would try to make happen sharpish.

I agree, I think your relationship with them will improve once you move out. They will view you differently when they no longer have that power over you.

Move sooner if you can and go nc, for a while if when you do go back leave and don’t look back life’s too short for this sort of nitpicking all the time.

I'd leave as soon as you can. Neither of your parents sound nice - your dad sounds bloody horrible. What are your siblings like? Do they treat them the same?