Am I just scared of my parents?

You remind me a lot of my best friend. His sister is two years younger, yet she has held an attitude with her parents that let her have me leeway when doing personal things, whereas my friend just sat back and took it, and continued to do so.

What he did though was pretty brilliant, and it could work for you.

His dad was always riding his ass about doing things "his way", and instead of taking commands at 20 years old, he just ignored him throughout the process until he was finished; and proved "his way" was not the only way.

Start being more independent in ways that down really frustrate your relationship with the family. Start doing things they will notice you doing like taking up extra responsibility.
If you want your freedom sometimes the parents just want to know you'll be okay. Even though sometimes they do tend to go to asinine lengths to see it.

Start paying for some of your own things they might pay for. Kindly request them to step down a little bit, raise the point that being guided for too long can cause a problem of adaptability. All in all, you'll miss your parents doing this eventually, I promise you that... just keep it nice and simple, show them what they want to see, and you can keep a good established relationship throughout this "Trial" period so to speak.

Good luck