Agreed with Marcus - this seems like a HUGE power imbalance. They house/feed/transport you and they assume you'll take care of their child, and they then tell you the level of attention you will receive, regardless of your needs?
Regardless of whether or not you enjoy taking care of their child, or whether or not you love and miss them, getting out from underneath their "assistance" is probably going to be the best thing you can do for yourself right now, if it's at all possible. Then perhaps you will BE on more equal footing and be able to pull a little more weight when asking for what you need ("I need to be with adults, and if you can't/won't be with me, then I will go out on my own." - that sort of thing).