i think your expectations are unrealistic, and you will continue to feel frustrated if you pursue this line.
i don't know what happened, obviously, but you say you have forgiven them for whatever you suffered in your childhood.
i don't think you should be trying to change them or get them to reflect on their own childhood etc.
you cannot change other people.
if they wanted to reflect on that, or discuss it with you, they would.
you sound like you are trying to correct them.
to parent them maybe.
it's pointless.
what do they do when you visit them.
can you not just go and be civil and then leave as soon as they are not civil or you feel uncomfortable.
don't make a big deal, just say, time for me to go, bye.
and leave. immediately.
same on the phone.
so limit your interactions. and keep yourself well.
good luck.