Welcome to the forums and, by simply reaching out here, you are talking to people! I hope this proves helpful even just to express yourself freely and without judgment...
Family are always tricky to talk to; there's so much history that interferes with 'natural' conversation - it's no wonder we can become guarded or apprehensive (on all sides). If you can view your parents (with all their faults) as needing your support, you may find them having less impact on you (i,e that power in the past could be diminished - as you alluded to "over time").
Please don't consider yourself as 'not working'; you raise your daughter and give her much attention - that sounds like work to me, and the relationship you have with your daughter testifies that you are doing it well.
Although financially dependent on a family member, you can still contribute in any way you can to show you appreciate the assistance (small gifts, friendly words of support and encouragement, special treats). One day you may find the roles reversed and you can provide reciprocal help where possible.
My last point - I used to find it hard to talk to people (especially strangers) as I would be more worried about how they would see me or saying something silly. I found it helpful to first find something that caught my attention (a pretty dog, funny observation, chance to lend a hand) where I could focus on the response of the recipient - showing an interest in others is the first step to having good conversations. After a while, it becomes quite natural and, as these are strangers, there is no 'history' to get in the way.
Hope this gets you started.