Navigating two languages

I admit that I have trouble communicating with my parents. Ever since I was little, my parents would always speak to me in Cantonese and although I've spoke it into adulthood, I can't speak my native tongue with them freely and openly. Theres a huge disadvantage to this because they can't tell how I think. Though, maybe its not possible to know how anyone think unless you have a career in neurology or brain study. Anyway, since I devote alot of time speaking to them, I wish there was a easier way around this. Then, maybe I could happier and live a more fulfilling life.

But this problem exists and I honestly think it isn't going to cut it to look up keywords online for them and spending time trying to explain an idea or not even bothering to explain something on the presumption that they won't understand it anyway.

I think I could really take their suggestion about learning Cantonese more seriously but I've always made it an unimportant priority of mine to my discontent. Honestly, why can't I just get anything done? Maybe it's their fault for not enrolling me into a language program from an early age or themselves not taking a class at an early age. But why is it that to learn a language you have to be young rather than old? Is that really necessary?

Languages will always be a complicated issue to me. So I will be searching for ways to solve these issues in the near future.