Feeling Sort of Inferior

I have been doing really well for the most part with building my self-esteem and overcoming things from my past and my childhood. However, there are two relationships that were always a source of stress for me, and one of them was my relationship with my mother, and the other was a relationship with mine now ex who is the father of my two children. They always had a way of making me feel like I was in good enough or like I was less than and even in my growth and other areas of my life and all of my professional accomplishments, and in my great relationships with my children, I still feel inferior when I’m in their presence or when I speak to them because it feels like they’re judging everything that I don’t do correctly and they make me retreat mentally to the space I was in years ago.