Cut ties or Mend bonds?

Thanksgiving 2020 was the last time I spoke to my parents. After years of toxicity, mental abuse, and All around lack of guardianship, I've begun to better my mental health. I'm seeing a psychiatrist and counselor, I'm on medications, and I'm talking many things out. What made me cut ties? I have two toddlers who I want to give a better future to. So I did what I thought I could never do. I left and didn't look back. My children are acting better and I'm feeling a lot better with them gone from my life. Growing up, they gave me low self-esteem, my father accidentally ran me over with a bulldozer which has given me disgust at my disfigured hips. My mother comes from a line of mental abuse and illnesses. She never cared for me, stole and lied to me. She would always talk down about me, especially as a mother. I'm still talking to a counselor about things as new memories begin to resurface.... My cousin thinks I should reach out to them, that they miss me and don't understand what happened. I told her I need time to better myself before I can even try working things out, if I decide to. But my parents did care about my needs. At a pet adoption event, I saw a man waver as he left the store. After the event, I found "Miss you" on my van. Then I received 2 voice-mails on my phone from my father's blocked number. One threatening to take legal action, the other trying to guilt trip me to call. Then a few days later, he and my mother decided to confront me at my home when they knew my fiance would not be home. I calmly expressed my feelings and told them to leave. They never apologized, tried to manipulate the situation, and left unhappy with my choices... They may not be perfect, may be messed up people, but they're the only family I have left outside my kids and fiance. Would it help with closure if I talk to them again? Or should I just focus on my kids and my life? I have no friends to talk to about any of this. I am alone with my thoughts.... My fiance hates how my family is and wants me to keep moving forward as I am finally being my own independent person. Please let me know your thoughts, or if you're going through something similar.