They are Gaslighting you. (psychological manipulation)
They push you away with their hurtful judgements, they manipulate your thoughts and feelings with invalidation and they cannot see/will not accept that they are the cause of your emotional turmoil. Usually, if you point it out to them they deny it. And when you try and distance yourself they guilt trip you.
You are not crazy and you are not wrong. It's important that you are able to acknowledge this because even thought you cannot change them, you can take the steps to better yourself. Bettering yourself will end the toxic destructive cycle so you don't pass it on to your future children, if you choose to have any. It's important for people to realize the way they talk to and the way they treat their children affects who they become as an adult.