I think it can be a good idea...you just have to know yourself, and not take on too much.
I'm sorry to hear about what happened with your parents...I hope things have been peaceful on that front.
I know that in my own life, one of the things that I needed time to realize is that my parents, with all their issues, are probably never going to change, certainly not very much. And I learned that I need to grow myself, and on whatever level I can, accept them as they are. And one of the hard things about that was realizing that I'll never have the relationship with them that I wish I did. But I can work on having the best relationship possible.
I do find it interesting that your father resents you for the lack of relationship...