My parents did too, but I lived in a small town. I couldn't wait to get to the city and go to college. While my parents raised me to be independent, your story is extreme.
Since I moved out, I see my parents once or twice a year and we never talk on the phone. It is kind of like they put in their time also. They were excellent parents while we were growing up though. My brother's story is the same. He is only a 90 minute drive from them and doesn't see them any more than I do.
Everyone has weird family dynamics. It seems like you have made peace with yours.