Your heart and head are in the right place on this!
"I'm leaving now so I don't say anything I will regret and we can talk later."
You made it about you... very good! Plus, you are making a point about self control... .that each of us are responsible for our own self control.
But I can't stay away from my parents because they make you mad. You don't have to go but I need to go visit them."
You have the gist of it... .however... .we need to work on your tactics. It is likely that she heard validation on some of the ideas that she has that you DO NOT want to validate.
Don't validate the invalid.
1. Your parents don't "make" her feel anything.
I think you made a good move going back to bed... .Don't bring this up again. If she brings it up again... .try to handle it with better tactics. Your strategy is sound.
FF