My parents aren’t supportive when it comes to my stutter

My parents aren’t supportive when it comes to my stutter I always tried to explain to my parents about my stutter but they aren’t so patient with me, whenever I try to order they say no I’ll do it, when I specifically tell them I can but they insist on doing it because they don’t have patience with me. Also in drive throughs they don’t let me order what I want even though I try to they don’t, even when I want something specific on my order. How do I tell them that my stutter is not bad and I can talk just fine with it, I also get embarrassed in stuttering with them around because I know they don’t have patience. What can I do?