39F Just moved out for the first time, where do I go from here

I had a really bad upbringing. My parents are not parents. They are immature and Ive been taking care of them for years. I went off to college at 18. I had to get a friend of the family to teach me to drive because my parents were too lazy. I paid for my first 2 years of college. My parents paid for the last 2 1/2. This was in 2008 so it was more $1500/year and 4K my last 9th semester. 7K total. The whole time my mom was taking money of of my accounts but returning it, but wouldn't tell me when. She took out a 12K student loan and took 8K when I needed the money to do an unpaid internship. The recession hit and I had to move back home. The experience taught me that I couldn't depend on anyone but myself. There were no jobs during the Great Recession and definitely nothing in my rural town. I tried to save money to leave again, but car accidents/ medical accidents left me in debt. My parents at the time were bringing in 200K/year, but were asking me to co sign on a solar loan (I didn't which caused animosity). I got injured at 30 and was bed bound and left in my own filth(seriously 3 showers in 4 months). I felt so unloved in my family I never tried to date. I gave up and went an got my teaching credential since that was the only thing on my resume. I finally moved out again at 38 despite all my mom's friends giving me shit for muching off my parents for all these years. Last year my parents called for me to loan them money every month 2K to get them through until they get a pay check again and my brother called to co sig on a car loan. I'm single in perimenopause no kids living in a room for rent. The good news is I make 100K/year and have a sizable retirement (saved because I knew I couldn't depend on anyone) now but I have no life. Is there any women out there who got a late start? Where do I go from here. Does anyone have any success stories?