Sorry to hear this. I (23M) was in a similar position, and I'm still trying to deal with the emotional aftertaste. I don't think my mother had OCD, but she was very particular about small details in a way that often didn't make sense to me, and this lead her to be over-critical and over-critical (in my opinion) when things didn't go her way. She was also constantly making "jokes" at my expense, while rarely saying anything genuinely positive or affectionate - and treated my Dad the same while they were married. My step-dad was the one with bipolar: his two primary moods were either groggy or irritable. He was also very particular about things and rather dogmatic about the things he held to be true, and if I indicated any small amount of sympathy for a view he didn't support, then I'd be re-educated. There was nothing you could say to change his mind, and he couldn't tolerate hearing ideas that weren't his. I very much relate to the feeling of walking on eggshells. I could never do anything right or fast enough to please them.

I don't have any advice, but you're not the only one.