How can I maintain a healthy relationship with my parent if I'm at odds with my step-parent?

Communication is the key to all relationships. Its important to communicate and know how your parents feel as much as your parents should know how do u feel.

try to understand their situation as well. talk to them, spend some time with them. make them feel welcome in your life. be nice to them so they can be nice to you as well. the fact you're trying to make amends is a pretty big deal in itself and I appreciate you for that. you'd make an amazing son/daughter. find things which intrigue you both. you can bond over those hobbies. if you two are angry with each other, try talking it out rather than engaging in a fight. the way you treat people matters a lot, because they'd probably treat you the same way. hope you find this a bit helpful. have a good day!