Mommy and daddy issues?

So I don’t have much of a relationship with my mom of dad. Nothings wrong with either of them. They are alive and well. I even see them out sometimes. I live with my moms parents. I love them dearly. They have taken great care of me and I graduate college in like two weeks. And im inviting them but that won’t fix our lack of relationship. I didn’t think it bothered me much until I realized that when I got into relationships I was a lunatic. I needed constant reassurance. I needed to know he wasn’t going to leave and I needed to not feel like they were secretly disposing me. I have never been in a serious relationship. and I want one but I can’t make connections. My therapist related this to my lack of relationship with my parents. She thinks I will eventually have to have a conversation with them to “heal” and maybe repair it and then I’ll be able to be in one. My question is can I do this without talking to them? I don’t hate them I just feel it’s weird to start this kind of conversation with a somewhat stranger. I’m 21 now. I rarely have conversations with them. And I do find my self crying uncontrollably when I see endearing moments like with parents and children like on modern family but I still feel I can heal without the conversation. I’m older now and feel I can go on in life without it. Can i? Has someone done it before?
Mommy and daddy issues?
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