Dealing with abusive family as an adult

Hi, I'm a 31-year-old male living in Okhla. I have been dealing with clinical depression for about 15-17 years and general depression for about 7-8 years. I'm currently working as an engineer in Noida, but I've been on the bench ever since I joined this organization, which is nearly 2 years now. I have experienced physical and verbal abuse for as long as I can remember. At 31, the physical abuse has diminished(not completely tho), but the verbal abuse continues daily, mostly by my brother. He even told me to commit suicide if i feel so depressed in many occasions. My mother also swears a lot to me (sometimes without even doing ANYTHING, just after waking up for example), if i spill water on the floor(which happens quite a lot due to my OCD, due to which I have to wash hands frequently and for very long) and also tells me things like I'm useless, spineless, I'll never amount to anything and wishes that i was never born or that she should have killed me when i was an infant. And many many other things that i can remember rn nor i can write them down. Now add these things to my depression and OCD(diagnosed but i think i also have other stuff like ADD and CPTSD etc), these made me a complete coward who's always scared, have zero self esteem and confidence, have terrible anxiety no friends and so on and on. I want to move out, but I only earn 12 thousands in hand per month. Even if I can survive with this income, I can't afford medical bills. My father owns two floors, one of which we (me, my brother, nephew, mom, and dad) currently live in, and the second is for rent. I asked them to allow me to live on the rented floor, but they refused, citing financial concerns. I requested to live there for a few months before leaving for good, but they still refused. While I understand it's their property and their rights, I wonder if there's any legal recourse or if there's an NGO that can help me until I get better. And My brother who is 45, unmarried, unemployed, never worked a single day. As my father is reaching a pretty old age, i think my brother is doing all this mostly so that I move out and he can claim the entirety of the property. Oh and just to give you a sense of how abusive and neglecting me parents are, my eldest brother died (several years back) due to the absence of medical assistance, he died of fever, because he has never been taken to a hospital. Note: even though my "family" is Muslim, I'm an atheist.