I'm glad you got past your feeling of low self worth. I had similar upbringing in regards to the belittling and ignoring part, maybe not quite as bad, but I know how it feels, but I loved my parents just the same.

I think loving people, even if they're not that nice to you, is also they key to success, and what G-d wants ultimately, because we're all human and fail at being good parents and pretty much else in life.