I have struggled with this myself and I know how awful it can feel. I also know how hard it can be to break this cycle, because when you are used to talking to each other in a certain way, it becomes "normal" and "acceptable" and very hard to break.
What may help in this situation is to remember that you can only change your own behaviour, not the other person's, and that may be something you would want to focus on.
You could try to do something special and new for the other person, making it clear that you appreciate them and do not expect something in return. Maybe give them a small gift, take them to the movies (no talking in the cinema ;) ) or prepare them a nice meal or bath, whatever feels right.
Another thing that may be helpful is written communication. Write your parent a letter, explaining how you feel. Try to not sound as if you are blaming them, but rather explain that you would like to fight less, and that you miss spending quality time together.
The third thing that may help is creating a positive ritual. Here, you can also get creative. You could propose cooking together, watching a series together, talking walks with the dog. Make it clear to your parents that these are times you want to enjoy their company, and maybe stay clear of topics you fight about.
Last but not least, express gratitude. Your parents are certainly not perfect, they are flawed and that can makes family life difficult. But in most cases, they also care about you a lot. If you show them that you know how hard things can be for them, and that you appreciate all they do for you, they may feel less frustrated and more ready to treat you the same way.
I know all this sounds like a very unbalanced effort. But usually, if you openly make an effort and show a person your gratitude and appreciation for them, they will slowly start to change the way they act towards you, too.
Good luck and strength to you! :)