My dad’s rage

My dad has helped me so much through the years and took so much of his time out to help me and I’m very grateful and treat him with respect and all, but it’s gotten to the point where he’s always pissed off at me.. takes things out on me and he gets the excuse for it because he’s done so much for me and is always helping me. Before I got my drivers license, I was in a prestigious program that was an hour away - I had to take classes 3 days a week but didn’t have a car nor a license yet so I couldn’t drive myself there and my dad was so pissed about driving me. If the traffic was bad, he’d take it out on me.. totally flip out and call me terrible names and stuff like a child. It got to the point where I just started to hate him and avoid him as much as possible. And he whispers to himself like a maniac every ride too. I’d just hear f bombs and he’d just talk to himself about random shit.. I can tell he’s super stressed and has gotten old, but he’s made my life miserable. I don’t like being a burden to anyone and I’m very busy & stressed too so this situation sucks. He’s very proud of me though and brags about me constantly. I just feel like my Dad has passed his rage on to me, and now I’m just so angry all the time. Lots of details I left out but this is the big picture.