Disrespectful mum and dad

So I just need a bit of a rant really. I always tell people I am close with my family. But this wasn’t always the case, I used to dislike them as a teenager. My mum and dad are very critical and don’t have much respect for their children’s opinions. Ever since I first told my parents I was pregnant (now almost 4ms pp) their lack of respect and constant boundary pushing has brought back all my memories from being a teenager & I feel like I forgave them for everything and now I feel like because they clearly haven’t changed I don’t forgive them. For example, last week mum & dad decided to make comments about my tummy. They have always been vocal about mine and my siblings physical appearance. When I was a teenager they used to constantly say my tummy was like pillsbury dough. For reference I was 7.5 stone as a teenager. I am 8.5 stone now. 5.ft2. My mums a bit obsessed with peoples weight. She was overweight when she was younger. But they are both weird about it. They have also commented on / made fun of basically any physical flaw I have. I have asked them not to kiss my LO. Today my dad did. Whilst looking at me. Like he was trying to taunt me. They have both been vocal about mine and my partner’s decision not to allow kisses. They don’t see the big deal. Perhaps they think they have some kind of right. I took my LO off him straight away and said that he wouldn’t be holding her for a while. I feel a bit weird about this. But we have had multiple discussions / arguments about this. I feel like it’s such a simple request but they are so used to disrespecting me that trying to reason with them has not worked. Dad especially can dish it out but not take it. He was a scary man when we were younger. Bad temper and we would get smacked as children and teenagers. He once threw a drink at my sister for having a smart mouth. He is a bully. When covid was at its height dad was super cautious. We even had evenings and Christmas outside when the rules said you could be inside. I remember him getting annoyed because my sister was talking too close to him (outside). I feel like I was respectful the whole way during the height of covid. To everyone including dad. Who btw is NOT classed as vulnerable. But he doesn’t mind kissing my LO. Wow sorry this has got super long. I just needed to rant. I could go on but I won’t 😂. I don’t think there is any changing my mum and dad and I don’t think they will ever be respectful. I don’t want them criticising my LO’s appearance or disrespecting me in front of them. I don’t really know what to do. I am going to create some space (for my own sanity) & just writing this has helped!