رَّبِّ ارْحَمْهُمَا كَمَا رَبَّيَانِي صَغِيرًا
Rabbir hamhuma kama Rabbayani Sagheera
(My Lord! bestow on them Thy Mercy even as they cherished me in childhood).
May Allah swt Grant long and healthy life to all parents.
Ameen summa Ameen
Ustadha Taimiyyah Zubair's answer for hurtful parents at around 38th minute https://youtu.be/7FpIED5hs78
Constantly call on Ya Lateef is Dr Shadee's answer from nothing but facts (NBF): Best dua to get your parents to be easy going with you? 1:22:10 https://youtu.be/MO9IrAtYzCo