I'm 22 and live at home. My parents cover the car and pay my monthly health bill. I cover co-pays, deductibles, gas, food, and clothes. Would this be supporting myself?

If you are not a full time student and your gross income for 2020 was $4,300 or more then no one can claim you as a dependent.

To be a Qualifying Relative -

1. The person cannot be your qualifying child or the qualifying child of any other taxpayer. A child is not the qualifying child of any other taxpayer if the child's parent (or any other person for whom the child is defined as a qualifying child) is not required to file an income tax return or files an income tax return only to get a refund on income tax withheld.
2. The person either (a) must be related to you or (b) must live with you all year as a member of your household.
3. The person's gross income for the year must be less than $4,300 (social security does not count) in 2020
4. You must provide more than half of the person's total support for the year.
5. The person must be a U.S. citizen or a U.S., Canada, or Mexico resident for some part of the year.
6. The person must not file a joint return with their spouse.

If you make more than $4300 and are not a college student then you are NOT a dependent on your parent's return.