Is it normal i am special needs and i hate being smothered treated like a baby

Speak up for yourself when you are ready and calm and hopefully they'll listen. And if matters remain the same, create some distance. Maybe they'll shape up then.

Take a look at Stella Young's TED talk and get them to watch it if you can: she was fantastically scathing about "abled" people "helping" people with disabilities, including patting her head as if she were a child and one woman, a stranger, asking her on a tram if she had a vagina!

Even if your parents do want you to live with them so they can "take care" of you, you're an adult and you don't have to go along with that. It sounds as if you're living your own independent life and they want to keep you dependent and child-like - common, but it must be infuriating.

Maybe you need to have much less contact with them or learn to either laugh at them or become detached from their ridiculous views? The present situation doesn't sound too healthy for you.

If you can't tell them how you feel, can you write it? You're post shows you express yourself quite clearly in writing, why not give it a go?

Please let us know how you get on

I get a lot of similar feelings when I tell people about my depression. If you have to, be less open about your disorder in the future. In my experience, it helps to have just a small circle of people that know.

By legal standards, they can't make the doctor do that. They'd have to go to court to declare you incompetent, and the judge would throw out the case considering you're able to live independently.
You have rights. You also have the right to stand up to your family. Sit them down calmly and explain that while you understand that they're just looking out for you, they also need to understand that you're an adult. Point out how successful you've been living on your own. You have a home that you take care of on your own and you've held down a job for quite awhile now. It would be different if you were homeless or losing track of your mental facilities, but you aren't. By most case managers opinion, you've transitioned into independent life successfully.
Keep us updated. I have disabilities as well. Luckily, my family is the opposite, constantly pushing me to be the best I can be. I've had Anxiety and Depression (plus a Learning Disability in Math) since I was little. They never let any of it be an excuse for poor behavior or performance. You need to steer your family into that mindset as well.

Stop whining like a baby then?