Should I/how do I bring this problem up with my parents?

I have ADHD, predominantly inattentive. I am really struggling now as an adult. I am not on medication, which I do think, in my case, was the right decision. however, as I'm doing more research, I found that there is a lot that I think they really did wrong for me that I am still trying to build myself up from. For example, my parents are slobs. I never even had a chance at learning any organization techniques. They can clean, but they chose not to.

They also did not help me try to get into any type of routine, and now I can barely get myself out of the door on time, or fall asleep at an early enough hour.

I should have been in therapy long before I suggested it (early teenage years) It really should have been when my grades dropped, which was 4th grade. They pulled me out of therapy basically because they were not getting their way. The therapist did not side with them 100% of the time. She was not against them, but my mom would stop my therapist in the middle of an important conversation and say "can you get her to stop wearing so much make up?"

Well now I'm angry. And I want to know why I am stuck in a position where I have to pretty much teach myself what should be basic human skills in my early 20's.