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LW,
Your willingness to ask for help and set boundaries and the insight you indicate suggest a certain level of maturity. Which is why it will not work for you to try to be with a little boy, or as you less generously expressed it, someone whom you experience as “cowardly and infantile”. Your boyfriend is in fact a boy friend who has never differentiated from his mommy and daddy.
If he had, and if he had the courage to love you, then he would have cut off contact with these two controlling boundary violators at the first sign of interference in your relationship. He didn’t, and he won’t until he grows up.
You deserve to be with an adult.