How do you forgive a family who did nothing but make you feel worthless and shun you?

You sound like such a wonderful person. You weathered all their ignorant abuse and still managed to grow up to be a good hearted man. I feel this is true because you are wondering how you can forgive them, how to continue a relationship after all this time instead of completely ignoring their pleas altogether. You are the better man obviously. You are the bigger person and it is your choice whether or not you want to show them through example, how to behave to the people in your family you are suppose to show unconditional love. You can just visit to let them know you have moved on, forgiving them their cruelty will make you stronger as they will have no hold on you anymore. If they want to establish a new relationship with you invite them to come to your turf, and start new with each new visit if/when they come. Good luck!