Oh, K., I so know what you are talking about. For whatever reasons, my mom is in many ways similar to yours (minus the irony of being a counselor, though she can be quite a preacher of 'the gospel according to her').
It is sad that you will never get the childhood you needed from your mom. Does that mean you don't still need that? No, you'll probably always feel that need in some way. (Sigh.) And not all needs can be met, no matter how legitimate they are. Or at least, they can not be met in the way we picture needing them met.
Your mother has something about her that is different than you. Without attaching blame to it (because the possibility exists that your mother is blameless – but that's something you may need years to discover), let's just say she's 'color-blind' to affection. She can't see that color, and doesn't know it's missing. She can't comprehend what "affection" or "nurture" mean to you, because she has no experience with those needs. Or at least, not in the same way you do. All the wishing in the world won't give her your understanding of those concepts.
Forgiveness is important – for you, whether or not your mom ever feels a need for your forgiveness. But forgiveness means "letting go of the hope for a better past." And that's huge, for almost all of us. As long as that impossible desire to redo the past has a hold on you, there are parts of you that will never be able to grow up, move forward, take possession of your own one, singular life.
I'm so deeply sorry for all you have experienced. Keep up the counseling. Come at healing from every angle open to you. Don't be afraid to explore alternative therapies (for example, investigate EMDR and EFT; visit www.theWork.com; keep a journal, write poetry, ask others what has been helpful for them).
I was an extremely dysfunctional young woman by the time I left my mother's home. I'm 63 now, and still learning, still healing. But as a 'wounded healer,' my life has taken on meaning and usefulness to others that may never have happened if my childhood had been easier or more satisfying. Everything has a silver lining, if you're open to it.
I wish you the best.