Is it not too late to start again at 27yo?

I've only recently realised in the past year that I've been in abusive relationships most of my life (not romantic relationships, since I've never had a romantic relationship).

For example, I've been doing my younger brother's homework to an A grade level since he was in year 5 and I only stopped last year when he was in 5th year of med school because his college doesn't do written assignments anymore from that year onwards (I.e. they focus more on practical placements with patients).

I was in full time pharmacy school and I literally was doing all my younger brother's written assignments when he was in year 12. So I helped him get into med school. Then I did pretty much a lot of his written assignments for 5 years of his med school. This weekend my brother is making me write his scholarship essay application.

I graduated pharmacy school with first class honours, but I didn't truly enjoy it because my mind was split between pharmacy school and writing my brother's assignments. It's really hard juggling pharmacy school and writing assignments for my brother. What should have happened is that I focus 100% on my pharmacy school studies and my brother should focus 100% on his studies. But that didn't happen. While I was doing his homework, he was out with his friends and he even had a secret girlfriend he didn't tell us about.

I also had a scholarship worth about $20K, and I regret telling my family because they took all of it. Everything I earn nowadays goes to repaying my parents' debt. They squeeze all the money out of me. At this point, the only way I can stop giving my parents money is if I make voluntary repayments into my super. My parents only stop asking me for money when I tell them my back account is below $1K, because that's literally all I have right now.

Because of my parent's debt, I now want to live below my means and not spend things on frivolous stuff. Simple living appeals to me.

After doing all my brother's homework for pretty much almost all my life, my brother isn't grateful. Instead, he literally thinks I'm ugly, disgusting, bad, horrible, shameful, dumb, and a waste of space. He yells at me so much. He calls me dumb, but I think he secretly knows I'm not dumb, because why would he trust me to do his assignments to an A grade and also he's telling me to write his scholarship essays this coming weekend. But my brother's attitude and personality isn't unexpected. Because I realise what kind of person would make someone else do their own homework for the last 15 years? Definitely not a healthy, well adjusted, well meaning, considerate, empathetic person.

My parents also are disappointed in me. I try to do everything they tell me and I put my needs and wants and tasks I need to do aside, so that I can help them. And it's never enough. And they keep pointing out all my mistakes. Every single thing I do is criticised.

Once I finish my masters, I plan to find a pharmacy job in a rural area that also provides free accommodation. That will help me escape this home and hopefully start increasing my bank account.

But all of these horrible financial abuse and homework abuse is in my memory. My question is, "can I mentally move forward from these horrible memories?" Because I do have some horrible childhood memories stuck in my brain. I don't want to feel resentment, because resentment will just hold me back. I want to move forward with my life whilst having total acceptance of my actions in the past.

Edit: I spent countless hours sitting at my desk researching and writing my brother's assignments. I had to scrutinise every single word and every reference/resource I included in the essays so that I could guarantee an A grade. That takes a lot of sacrifice. And just today, my dad got angry at me because I didn't do something correctly when I was helping him in the garage. He's so disappointed in me. I talk to him and he rolls his eyes. I tried doing the grey rock method, but then he yelled at me for not talking. And he yells at me for talking as well. It's really frustrating. But he's so nice to strangers, especially female strangers. And strangers make a lot of mistakes too, but he laughs it off and thinks nothing of it. But when I make a mistake, he makes it seem like the end of the world and that I should go to hell to be punished for my sins.