As an independent, intelligent, and amazing adult person, you obviously don't need your parents to be parenting you in the same way they did when you were a kid. But you are back in their home, expressing some form of dependence on them, so there have to be trade-offs and compromises. You're gonna have to swallow your pride and choose what hills to die on.
There are going to be spaces and instances where you need to firmly and respectfully draw and keep healthy boundaries. Mistreatment or toxic words pointed at you are unacceptable. But there are also times where you are grating against each other due to reasons of personal preference or personality—and those become opportunities for you to extend grace, see the other with empathy, and become a more mature and patient person. This is good practice for future roommates, partners, etc.
It may also be helpful to have a clarifying conversation with them, lay out expectations: "We are all living under the same roof again? What are your expectations for how that will look? (And here's what I'm hoping for.)"