It's really hard to get by in the world nowadays, the economy is really awful. I hope you can let go of some of that guilt as you receive financial support from your parents.
If you give your pursuits your all, it may help alleviate the guilty feelings. I do know how hard motivation is to come by, but as long as you try to get at least one thing done every day you can build a good work ethic, unless you already have one.
It's a shame about how your parents raised you, but there's still plenty of years left in your life to improve yourself. I also have to learn a lot of things on my own, or get my parents to teach me, because when I was growing up they really didn't provide me with the skills I need to be a proper adult. I still live with them. I think this kind of problem is at least fairly common, so perhaps there are others who have gotten their act together and can provide us with the advice we need.
I don't know what you did to your ex, but it sounds like you are very remorseful about it, which is an important step. Make it up to her, in what ways- you have to decide, but making amends will also help you deal with the guilt.
About the prostitution, you were trying to gain some independence and it was a way to make ends meet, so I hope you can forgive yourself for it. And the rape... that's awful and I hope you don't think about it too often or have nightmares.
I can't fully relate to being transgender, but I have always been effeminate for a guy and always felt more comfortable in girly clothing, and that comes with it's own issues. I do hope you are happy with your transition though, and that your hormonal changes haven't caused you problems. And, the mental challenges that gender issues present are not easy to deal with by any means, so be proud that you've gotten this far. If you're still struggling in that regard maybe you could reach out to some transgender support groups.
I'm not going to lie and say your life will get better, but it can get better, as long as you're alive. I hope you can find a little hope somewhere in your life and press on.