My parents argue all the time..help?

My parents argue at home as well as in public. I have my own place and don’t live with them. Yet, it’s still hard for me to see them argue and embarrassing when they do it in public. My dad has a form of adult autism so, he will do/say some things that are embarrassing at times which makes my mom mad. I try ignoring it. Yet, my mom likes being in control and won’t ever admit when she is in the wrong. I did go to counseling with my parents a few years ago. It did nothing when it comes to my mom. She just thought the counselor was all wrong because she was being asked to make some changes and was explained some of the issues that I struggle with. I have talked to my parents multiple times as well. It helps some with my dad. With my mom it only gets her upset and she finds any reason for someone else to be at fault and not her. Their arguing is tearing my family apart. I hate seeing this because I’m a big family person and love my whole family. My husband and I are even thinking about trying to have kids. This makes me nervous because neither one of us want our future kids around the arguing environment that my parents create.