If I am recognising your circumstances then you have made a lot of threads bemoaning your condition and resulting lot in life, (which is a bit at odds with your statement that you've gotten alamost everything you could want in life).
To answer your question, you decide what you want to control. Your condition will make aspects of that challenging and you may require assstance, but as an adult it is well within your means to say to your parents, "I want to make decisions about XYZ".