It is never too late to renew a relationship with your parents.
You will have to take the initiative. Tell a fond memory, ask for forgiveness, tell them you forgive them, but most of all make the effort to connect.
Telling a story will carry the truth, especially the hard truth, that you want to say.
Holding a clinched fist, and the tension it brings, will begin to be released when you make the effort to connect.
Free yourself and tell a new story.
Leaving a legacy for the next generation.