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Isn't USAA exclusively for the military, retired military, or dependants (if they used it before they became ineligible (age 18 or after graduation from school/25))? I know I am no longer eligible for USAA insurance because I never got it when I had the chance (as a dependant).

I think you're wrong. While USAA doesn't detail exactly who's eligible, it says "children of USAA members", so if your parents were in the military and they have a USAA account, you should still be eligible, regardless of your age. However, I do notice that veterans do not qualify, unless you "recently" left the service, whatever "recently" means.
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Bitt Faulk