I had four friends, separately, individually, reach out to me and say, "I know this isn't actually my business, and I wonder whether I should even say anything, but why does your dad think it's OK to talk to you like he does?"
I then spent three more years telling him each time he belittled me or spoke to me like a child that he could either speak to me with the common decency every single person deserves just by virtue of being human, or I would prevent him from speaking to me altogether.
It was never fine, but growing up in his house, I never knew any different was possible. I thought that was just how I deserved to be treated.
It took other people to tell me it wasn't OK, and had never been OK, but I guarantee if you ask him, he will tell you he has no idea what happened, and will certainly blame anyone but himself.