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the environment in my home is very depressing (socially) . How can i change it?

this is not about being living in a small room with smells or something. this is about my family's social life and how it is impacting me.

living with mom and dad as a single child with extreme morals, moralist ideology and no/bitter relations is impacting me a lot.

i will try to cover some points that make us different from other people:

1. i come from a very nuclear family with my parents and me and no siblings. we have 2 cats though

2. we have always been poor and are still struggling. we don't a 4 wheeler, my dad closed his job to be a salesman and he doesn't earn enough for current expenses. we pay our bills from rents from shop and a room for rent on terrace. i am earning 5x my family now, so we are stable but being poor has always been a major impact for me

3. we follow this spritual philosopher/guru as our religion who preach good morals, various currently non existent ("but will be ruling the globe" ) practises and procedures . i am not much into them so i might explain them wrong, but from my 23 yo brain's understanding, some examples will be : extreme vegetarianism (no onion/garlic/egg) , no drinks/smoking , yoga, fasting, some communism/socialism philosophy, meditation , kirtana, etc

4. there is no love amongst my parents or their relatives. i don't know how we are living a loveless life. afaik , the relatives from both sides were bad and treacherous , they were the reasons for our struggles and now we hate them and they don't visit us.
among mom and dad :dad was never someone that mom loved, they just went with the family pressures, and since there was no way for mom to take a stand, she went with the hateful marriage, had me, they jointly struggled to keep me alive while hating each other and never even sleeping together, until i was a decent 23 yo earning by myself. they don't even have friends afaik.

5. cut to today, our lives revolve around not the love for one another but towards this stupid religion dictating the rules of our lives. there are 3 seperate rooms in which we 3 sleep, and mom dad gets into vicious fights on smallest of the things. i then jump in, trying to extinguish the fire by being even the louder voice. and end up hurting them and myself. at the same time , their bodies are now taking a toll : mom has some uterus/liver problems, dad is diabetic and one of our cat's legs don't work.

i just want to run away. i never had friends because they couldn't never relate with me, i didn't go to school picnics, didn't talked with girls, never got into discussions that people would find interesting.

i feel so seperated out from the world. i am an engineer by profession, i have a good number of people that knows me and respects me for my knowledge, but they end up mocking me for my social skills and different life rules when i try to be with them. and they are not at fault. i am the person that is the result of such a big messed up life.

their can't be another person on this planet that will be having a similar life situation, being loveless for so long. i don't see myself having a future at all : i am earning decent but what's the point?

i recently went to a trip with my friends. it was a fun little trip of 3 days. the people were : me, my friend of 9 years of friendship , my friend of 8 years of friendship, gf of the 9 yr friend and 2 stranger girls.
this was such an amazing environment for my brain : i never had a conversation with a girl for more than 10 mins. i envy my friends with gf kissing, going on trips , etc , but this.. this was awesome. the girls were chill , my 8 yof guy was a chick magnet and the setting was that he would woo the slimer girl while i would go with the short one. although nothing happened, i just observed how the guys and girls would talk and relate and how i am different.

it's my 2nd trip with friends, and its completely the same: i goto a trip, enjoy the best 6-7 days of my life, learn that i am very different from the world, that the world perceive of me as a very simple , naive person with limited social exposure, and that i have a very conservative beta male , moralist mamma's boy personna.

when i come home with these thoughts, i end up being angry , blaming them for this, because they are the ones who made me like this, weather due to their struggling life or just morals. and i end up being rude to them and being a sad regretful person.

i just broke my dad's phone because they were again fighting, being very loud and i wanted to end all this.

what should i do? can i change something? is it always going to be like this? who in this home can be happy with a shitty environment like this? will their be a girl that wants to see this mess by marrying me?