okay. let me just convey, i mean to come to you with compassion:

asking your parents to borrow a car, or for gas money, so you can start taking the steps to move on with your life and out of their house, wouldn't be a imposition, it would be a gift. if you're serious about making things easier on your parents (financially, psychically), then it's time to take some responsibility and swallow your pride, and make some moves (easier said than done! surely! but it's within your control and you're stronger than you know).