You are talking here aren't you? I highly, highly doubt you are insane. Everyone feels insane or mentally distorted at some point in their lives. The people that don't are either delusional or lying.
You live in US, I assume, and you said you have some minor mental handicap (that I wouldn't have known unless you said it), you have got to be 'entitled' to some government handout while you go find a job, right?
If you don't get out while you are still young you will regret it forever, plus it is going to happen eventually anyways, your grandma isn't going to live for another 80 years. My parents have been super controlling until I got to high school, then I just ignored their yelling until they stopped caring.
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