Your parents can love you and still be shitty abusive parents. They can mean well and still fuck up. They might fuck up without even knowing it's abuse.
Sometimes I think about how, when I was 5, my dad would make grilled cheese sandwiches and cut them into dinosaur shapes for me. Other times when I was hungry, he would refuse to feed me at all, because he decided that 5 was old enough for me to cook for myself when he didn't feel like doing it.
I think about how he taught me to swim, and fish, and (yes) throw a ball. In the summer, at night, he would wrap me in a huge comforter and carry me around outside to show me the constellations. But I hated being left alone with him because he was often bad tempered, mean to me for no reason, and I couldn't count on him for basic things like food.
Sometimes I think about how my mom raised hell in my high school principal's office in front of multiple faculty members because they weren't complying with my IEP (disability required accommodations). She always saw red if someone else laid a finger on me, even figuratively. When we were at home she screamed at me for things I had no control over and said I was using my illness to get my way.
I think about how she bought me art supplies and paid for lessons for all of my hobbies. She attended every single concert, performance, and game. I don't think I went a day without being told she loved me while growing up, and she constantly told me how proud she was. But I could never trust her mood and she could go from loving mother to terrorizing me before I knew what was happening.
My parents love me but I still flinch if someone in my vicinity washes a dish a little too aggressively. My parents never intentionally traumatized me, but my nervous system never knew the difference. Neither of my parents saw anything they did as abuse; they believed they were good parents. It wasn't until my mom was in her mid 60s that she grasped that her own childhood had been abusive, too.
They're not bad, irredeemable people. They're complex people with a lot of their own trauma who lacked many skills necessary for good parenting. I could hate them for it, but I don't. I'm not obligated to forgive them, and I don't think I have, and I don't know whether I ever really will. My parents damaged me a lot in ways that have affected my whole life, and I still have good memories with them.