When I was a kid I had a similar living situation as yours and it ended badly. I won't rant and rave and tell my story on this post because it is your blog but suffice to say that I understand how you feel bud. My situation ended badly because of myself and my parents and BOTH of us focusing only on how we ourselves felt and ignoring the feelings of the other. There was no understanding at all on either side.
And to answer Elryi: I had kids because, and I know this is hard to understand for those of you without kids, I loved them before they were even born. I wanted to share life. I wanted to give something back. And I also wanted to leave my lasting imprint on the world. It turned out to be WAAAAAY different than I expected but it was still worth it.