Living with Emotionally Immature Parents: Setting Boundaries

Does anybody still live with their emotional immature parents? If so, how are you setting boundaries? Leaving is not an option for me right now. My dad is battling cancer and both my parents are in their 70’s. They need help both emotionally and financially. I started therapy a year ago and found I had depression, anxiety disorder, and PTSD. It’s been hard to accept that my relationship with my parents was not the one that I thought I had. I’m struggling keeping my head above water right now, but I really love them and want to make sure they are okay. Is there anyway I can still help them, but start focusing on my well-being? I’m in my thirties and still very much scared of everything. They make it hard for me to grow and not feel guilty. But I seriously feel like I cannot remove myself from the situation right now. Any advise in how to practice boundaries or avoid emotional takeovers? :(