How can I get them to respect my boundaries? I don't want to start a feud, as they are good to me in every other way, but I'm starting to dread seeing them.
No one has the right to touch you if you do not want to be touched. If your parents continue forcing their physical demonstrations of affection (which seem to me more like demonstrations of dominance) over your protests, recognize it for what it is a mild form of sadism (no, I'm not kidding). See them less often, and be sure they know why.
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