My father is an alcoholic. Every time he gets drunk, he keeps talking to me. He taught me all kinds of things, got me drunk, put everything on my head and told me not to say anything.
Parents have no choice but to respect their parents. But parents are not saints, they have their own personalities. They will do something wrong like us.
We clearly know what our parents did wrong, and we have to reason with them. As a result, whether they will adopt and correct it is another matter.