If you're chasing that blend of brutal superhero action and messy family drama that 'Invincible' nails so well, you've hit on a really specific itch. The thing about that series is how the super-powered fights feel almost secondary to the crushing weight of parental expectations and betrayal.
I'd point you toward 'Saga' by Brian K. Vaughan and Fiona Staples first. It's a space opera, but at its heart it's about a couple from warring worlds trying to raise their daughter in the middle of a galactic conflict. The family unit is constantly under threat, and the tensions between parents, in-laws, and the legacy they're creating for their child are just as intense as any battle. The tone is different—more melancholy and weird—but the emotional core of familial love and conflict is super strong.
Another one that gets overlooked is 'Ultimate Spider-Man' by Bendis and Bagley, specifically the early run with Peter, Aunt May, and later MJ and Gwen. It's less about parental betrayal and more about the constant pressure of protecting your family from the dangers your secret life brings home. The 'clone saga' arcs and the constant fear of discovery create a different kind of domestic strain that's really compelling.
Maybe also check out 'Monstress' by Marjorie Liu and Sana Takeda. The central relationship is between a young woman and a monstrous entity bound to her, which operates as a twisted, violent mother-daughter dynamic. The search for her actual mother and the revelations about her lineage drive the entire epic plot. It's denser and more fantasy-horror, but the family conflict is absolutely primal and devastating.
For something more indie, 'Fun Home' by Alison Bechdel is a memoir, but it deals with uncovering a father's hidden life after his death. It's not superheroes, but the exploration of family secrets, identity, and legacy has a similar psychological weight, just in a completely different genre wrapper.