It sounds difficult indeed. Some people are toxic and they don't ever realize it. I believe the right thing to do it to say "stop" show them that some things cannot be accepted and you was brave enough to do it.

It doesn't matter if it's family or not - being parents doesn't make them Gods, even though in some cultures the respect to the parents is overdone to the scale which becomes toxic. I'm glad your parents realized they were making mistake, that they asked for forgiveness and that you was able to give it to them.