I think it’s amazing that you donate to Planned Parenthood and shared this story! I too was raised to think things were black and white, when they are indeed not.
Maybe there will be a time when you share your views with your parents, but I understand if you don’t. People with more open-minded parents don’t understand everything that goes along with those conversations.
Personally, I never will tell my parents that I think religion is a crutch because it would break their hearts. I hate some of their beliefs and that they’ve been brainwashed, but like you said, I could never hate them or want to cause them pain.