Harsh truth of life... parents are people too. They have faults, and are selfish, and make mistakes.
The only way this situation is going to go anywhere positive is for you to move the hell out. It's hard, but it's NOT SELFISH. Your parents are adults- it's time they act like adults. Put it this way, if you had a kid, and your child expected you to do EVERYTHING for them- feed them, drive them around, pick up their messes, fetch them dinner, wash their clothes, bathe them, etc etc... it'd be OK until they hit about 3 years old, and then you'd want to start teaching them responsibility so they'd become productive members of society, right? Your parents are acting like spoiled brats right now... because they ARE spoiled.
Unfortunately, it's not going to be pretty un-spoiling them, but it has to be done. You're an adult now, you have your own life. You either get out there and start living it, or just resign yourself to being at your parent's beck and call for the next however many years, spending every waking moment waiting and praying for them to die so you can be free.
It's time to cut the umbilical cord... untie the apron strings... that kinda thing. Best of luck
