n0mad,
Welcome to the forum.

I made the same mistake in 2018 after years of living away from my parents. My mother seemed to have mellowed with age. My former therapist told me those with BPD improve with age according to studies. (They received their PhD in Psychology from Harvard and is a pt prof at a local university. Am not showing off. Am simply showing how wrong therapists with fantastic credentials can be!)
She hadn't changed at all. It was the same abusive behavior towards me, the scapegoat of my FOO. My mental health deteriorated to where I started to become somewhat agoraphobic and developed a deep depression.
I left and moved back to a home I own. Am never being a caregiver to her again. It's been a struggle to get my emotions and life back. The pandemic and the isolation it caused didn't help.
Is there a way to move elsewhere, even temporarily? Could you & your daughter rent a room in an apartment or house? I'm in a HCOL area where it's not unheard of for 2 adults (not partners) to share one bedroom. The kind of drama you experienced with your mom and dad will continue to happen. It never stops.
I'm going to out myself to say I'm a landlord. Not all of us are predatory or greedy. I don't mind charging a bit below market rate for a reliable, quiet, clean and honest tenant who pays rent on time. There's a saying that no tenant is better than a bad tenant. It might take some effort to find your own place with a reasonable landlord. I think you might have a good shot with a mom and pop small landlord rather than renting from a large corporation. It doesn't hurt to try.