Ever since I was little I realized I had to twist the world around me to get what I felt was personal freedom. Since them, it's taken a LOT of effort, but i've basically got my parents on a leash. And NOT from abuse, or fighting, merely from conditioning, prodding, showing them the truth and having calm conversations of hypothetical situations.
I know the ins and outs of my father's mind. I take shit from noone. I value my freedom more than anything in this entire world.