What to know about what you don’t know you know. #1: Intuition is very efficient—if you don't overthink it.
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There is nothing I can say to help you, but I just wanted to give you my support. I hope it will be of comfort to you in some small way.
I don't have the exact same conditions as you, but I am financially and practically dependent (for transport etc.) on my parents since my twenties. It's hard to feel like a grown-up that way, even though in my case they try their very best not to restrict me in any way. Still, it is hard for them to really let me go, because of this dependence way into my thirties.
What I mean is: I don't know exactly how you feel, but I have some idea, since I share some of your experiences.
Best of luck to you.I hope you will meet more people who can accept you for who you are and look beyond the illness.
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