My boyfriend and parents dont get along, how do I navigate this?

So, both my boyfriend and my dad think each other is controlling. They dont get along and dont trust each other. I, however, see it from both sides. I can see how one thinks the other is controlling, and I understand their frustration. The problem, is that they both mean the world to me, and I dont want to lose either of them. Im currently trying to schedule my upcoming holidays, and its beginning to stress me out. Im new to the dating world, and I have a hard time recognizing what is right/wrong. For instance, I spent Thanksgiving with my boyfriend and his family this year, and my dad was more than ok with that, but asked if he could have me for Christmas this year. I thought that was reasonable so I said yes. However, now there is some tension between them, and they dont want my boyfriend to come over for dinner (which I think is ridiculous, but its their house/invitation). I could see this really upsetting my boyfriend, and I know he'll respond by saying "you shouldn't go and be with them if Im not invited" which makes me feel bad, because I would love to spend some time with my family. Am I in the wrong for spending the holidays (the night of the 24th and dinner on the 25th) with them? What is the right thing to do in this situation, because I dont know what it is. Is my boyfriend in the right for feeling this way? Also, would you address this now? Or is it better to leave this be, and if he asks what Im doing for Christmas, to say Im spending it with my family?

Im on the spectrum, and sometimes feel like I lack empathy or dont recognize social cues. I just dont want to feel like I did something wrong.

My boyfriend and parents dont get along, how do I navigate this?
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