Well Matt I'm sorry to hear that you have left.
I'm surprised at some things you said. You addressed your video to CARM. The people who argue against the Catholic Church on that forum are some of the most vile that I have ever encountered. Further many of them, including their leader Matt Slick, would say that all Catholics are on their way to hell, AND that your parents would be as well.
My parents are also separated from the Church and my sisters are unbaptized. I fear for their salvation but I don't despair. I still hope to be present to them until the day they die and to live as a witness to them during that time and love them like Jesus would.
We aren't saved by assent to belief, and we receive as much grace from the sacraments as we are disposed to receive. Grace isn't forced on us through the sacraments, nor is being in a state of grace a guarantee that we will be lit on fire by that grace if we are not open to it. Considering this it is plain easy to understand why some faithful mass-goers aren't lit on fire with love. They don't allow God to do it, and God doesn't force them into it.
There are many kind people who do not call themselves Catholic as well. And those people are possibly in a state of grace because of their baptism and their openness to God's grace. We cannot know whether they will be saved or damned, nor does the Church state that they are either. God's grace flows through the sacraments and the church, and it flows to people who don't call themselves Catholic through that same means.
Why there are surely some very kind buddhist people, or hindus, or atheists for that matter. Kindness toward your fellow man is not something unique to Christians. So why would leaving the Catholic Church in favor of some other random Christian church be appealing? Maybe that's not what you have done?
I believe all the doctrines of the Catholic Church, not because I like the implications of all of them, but because they are true. It doesn't do any good at all to reject truth just because we don't like it. If your parents and the ones you love are not ultimately saved, they will be not saved whether you believe they will be saved or not. I love the doctrines of the Catholic Church even if I don't like them, because knowing the truth then I can do something about it.
You are loving yourself by rejecting a difficult doctrine. You are not loving your family by rejecting it. You are trying to save your sanity which I can sympathize with. God is in it for the long haul, and you should never lose hope that God will save your parents. He needs you to be their witness to do it though. They need someone who will be faithful enough to call the priest so that they may receive the sacraments on their death bed, someone who has prayed for them for years because he knows what might happen to them in the end, someone who has a supernatural grace flowing directly from the sacraments who will then lead them back to that same source of grace eventually and not away from it.
Don't stay away from the Church. Embrace the teachings even if they cause you suffering. Unite that suffering to our Lord's suffering and you will be that conduit of grace to your parents that they desperately need.
For your own sake, don't abuse the sacrament of confession. You need to turn your heart around to have a valid confession.