Billions of Years of Evolution

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I think I work on that by refusing to do anything else for her but take her to appointments.
She called me useless 3 times. Even though I'm her only ride to the appointments.

I think I should stop doing what she commands of me.

I can't exactly kick her out of my home.

I was not aware of your full situation. That's a tough one. I'm sure that on the one hand you respect her for giving life to you and for taking the time to raise you, but at the same time you feel that she's not respecting you for what you do for her in the most basic way.

Of course, you don't have to help her, but at the same time she seems to really need your help.

That's really tough. I don't know if I can give advice on that one.

Maybe you should emphasize to her that you aren't really obligated to help her. Maybe that will help her realize that you are helping her. Sometimes people don't realize that they are being given help. They just see all the things that the other person supposedly does not do.