What do I do?

Hello I am a 26 year old married male with a recently born daughter that is 3 months old, I am now taking care of my family and working hard to provide a present a future that my wife and daughter deserve. I didn’t grow up in the best environment, I grew up around dirty clothes dishes trash everywhere mold and bugs were normal too many animals and poop everywhere, extended family that helped from afar and never impacted enough to actually improve anything and this was all caused by my mother and father who both refused to be better individuals and learn from their mistakes to make their lives and our life better, my mom became a pain med addict when I was 9 and my dad has always been a shithead never stopped any of this and only let everything keep heading to disaster and always made things worse never physically abusive but emotionally abusing and narcissistic. My mom and dad have had a million chances to improve their lives to make sure they don’t end up in terrible health and financial stability. Yet here we are my mom 14 death scares later is now wheel chair bound unable to shower, eat, dress, or move without assistance at 50 years old and my dad at 53 yrs old a dirtbag who lives with my oldest sister and her husband and six kids three are her husbands kids and she is pregnant. She is also terrible in many things and refuses to be on medication for bipolar polar disorder. She takes care of my mom and all of her kids and has terrible credit unable to own anything but a trailer. With a ton more backstory that would take forever to explain, short story is they are all terrible influences and allow themselves to live in a dirty environment while always asking for money when no one has enough they want 15000$ to somehow get my mom a wheelchair assessable trailer and yet they’ve taken more than that from all of my relatives over 15-20 years and threw it away on stupid shit. I’ve kept my distance ever since my daughter was born for my sanity and also to not allow this to impact my daughter life. Idk what to do though because even though I don’t like any of them I’ve always loved my mother because even though she has so much always negativity going on wether it be bad habits or lack of growth, she has always had the biggest heart and never viewed anyone as anything but people, and she raised me with that same heart and because of this I always feel immense pain and mental torture feeling like I should help but the thought keeps coming to my mind. They are adults, at the end of the day I was a child when the decisions were made that ended them up here today and I don’t have the ability to change their life or give enough time to try to make them see reason like everyone has been trying for 25 years. I’m so frustrated that I feel so much pain but I know I’m right to keep this boundary and distance for the safety and overall health of myself, my wife and child.