I mean this gently ayn, but from what you've described, you play act abuse. It's controlled and within your limits, but you act out an abusive relationship. Maybe not the same level of abuse your father perpetrated either, clearly, but abuse all the same. Being dominated, ordered about, punished etc, you're not play acting a healthy equal partnership by any manner of means.
No need to be gentle, Bluntness, I'm well aware of what you think. As I said, I repressed myself for a long time because I thought my feelings must be a fucked up response to my abuse. I cannot say that repression made me very happy.
You do not know what happened with my father, apart from the brief things I've mentioned. I do. You do not know what happens in my scenes. I do. You haven't met my father or my sexual partners. I have. You do not know what I was like after my father had been abusing me, or what I'm like after I've been dommed well. I do.
Domination is not abuse, and if I haven't explained that well enough by now then I think I'll have to give up, and you're just going to have to take my word for it. Ordered about, well, yes, but I consent to it and I have my safe word if he were ever to order me to do something that would be damaging (I have only ever used it once, and it was immediately respected). He also only ever orders me to do things that will ultimately bring me pleasure.
'Punishment' is a complex concept within BDSM, but I assure you, it's all done with pleasure ultimately in mind. It may help to think of it more in terms of asserting our dynamic, and since I have an urge to be submissive, it works for me.
Orders and punishment are really only one part of the full world of BDSM. TMI alert (sorry, but I don't know how else to explain this without giving examples). A huge part of our play is CMNF (clothed male, naked female - it exists the other way round as well). My Dom is hugely into that. So an awful lot of the time, we're not actually doing anything very exciting, might even just be chatting or having tea. It's just that he's got his clothes on and I haven't. Shibari - a form of Japanese rope bondage which is actually more about creating patterns and pressure on the sub's body than restraint - is another.
I cannot sit here and tell you there is never ever any abuse connection within BDSM relationships. I can't tell you that about vanilla relationships or professional work relationships either. Humans are complex and contradictory and all different.
All I can tell you is that, if done properly - with consent, with mutual satisfaction in mind, with true power exchange - BDSM is not abuse. If consent is violated, if one partner's fulfilment and pleasure truly doesn't feature, then it is simply not BDSM.