What to do with a controlling and unreasonable mother?

I'm 26F, and I've lost so many years of my life because of fake friendships and drama. I went out at 10pm and she kept texting me when will I be home and she was waiting for me when I got home after 12am. The next day, she called me immature for doing this at 26 when she expected me to do this at 18, when she is aware I haven't lived life or went out a lot and don't have responsibilities such us kids or wake up early, etc. And it was one night. I'm not doing this every day. She even blamed me for keeping her awake and playing the victim.

And she always complains about everything, brings me down, and then calls ME "unappreciative."

And she makes me feel bad when I answer the phone to friends and leave the room to talk because she has to listen to what I say. My dad is even worse, he has to lower the volume of the radio or TV so he can overhear.

I've had enough the last few years and I can't move out because I'm not financially independent yet. This has become too much and now that I've finally have healthy friendships and relationships, my mother complains every day and we argue. And she blames these people because I finally stand up for myself after not saying anything all these years. But I am done. I don't want her to control me and ruin my friendships / relationships and not let me explore life.

Any advice?