My relationship with my parents is...so-so. Things have smoothed out a lot as I've gotten older, but not in the sense of a typical "family" relationship - we're just people who live together. We get along best by keeping out of each other's way. I've suffered a lot of abuse from both my parents - my father hit me when I was a child, and my mother has put me through all manner of mental abuse from my teens onwards; she basically picked up where he left off - and I think the best way to put it is that we tolerate each other. To a point. The atmosphere in this house can go from amicable to strained to outright hostile in a matter of minutes.
I have called my father by his first name for the last 13 years or so. He lost the right to be called father by me after he lashed out at me when I was in College; I didn't speak to him for a year after that, and I haven't called him "father" since then...it's actually done wonders for our relationship. We've both calmed down a lot since I was a teenager, and we get along better if we just act like we're not family. I am actually okay with this.
My mother...she's very difficult, honestly. I am acutely aware that she considers me a failed child - this is why my brother exists, she decided that she wanted to try again because I wasn't what she had hoped for...and yes, she has told me this directly, amongst other things - but as far as I'm concerned she has failed me as a mother, so whilst neither of us is what the other wanted, we've learned to make the best of it...more or less. My mother is responsible for a lot of my self-confidence issues, suicidal thoughts, and general anxieties and insecurities. But then, I still live at home, and I'm not the easiest person to tolerate sometimes, so I'm not entirely blameless either. There is some truth to what she says about me. We are two people who would avoid one another if we weren't family.
But there is no real love between myself and my parents. I can't remember the last time I was told I was loved, or felt like I was loved. I don't really feel like they're my parents - both by design and by choice, I am the outcast in our dysfunctional little family. I feel like I'm intruding if I even try to engage with them on a more personal familial level, and I've never tried to either, so one perpetuates the other. I'm sure when someone dies, be it me or them, there will be regrets and a lot of things left unsaid. I'm sure a family therapist would have a field day with us. But this is just the way things are, and I've learned to make the most of it. I'll take tolerance, a modicum of trust, and a certain level of respect, from them, because that's the best I'm going to get...and in a way they're far more valuable to me than things one would expect from parental figures, because I've had to work very hard to earn them. If there is one thing they've taught me over the years, it's that there is no such thing as unconditional love.
tl;dr - we have issues.
My grandparents are great. It took me a long time to forgive them for moving away just as we moved into the same area where they were previously living - that sends a pretty strong message tbh, and 11 year old me took that to mean they didn't want to be around us - and I didn't speak to them for 3 years after my grandmother interfered in things she had no right to interfere in, but we patched things up after I graduated from University and since then I visit them once a year in the summer and phone every Friday after work. My grandparents act more like parents to me than my actual parents do, honestly.