Grandpa, grandma and dad always satirize me with words and always say that I am neither good nor bad. In short, I have no advantage in their eyes, and my father is always kissing.

First of all, what they did was definitely wrong. You are old and have your own self-esteem. You can formally tell your family, tell them what you really think, and tell them clearly that you are not feeling well. Adults are urging you to make progress in a way that they think is beneficial to you, and may even treat you as a child without realizing that you have grown up. It should be effective to talk about it, because their original intention is to wish you well.