It will take at a year of your parents living in-state for you to qualify for in-state tuition. https://www.ucop.edu/residency/residency-requirements.html
The only benefit to filing FAFSA is that you would be able to take out the $5,500 freshman year Federal Direct Student Loan, as it sounds like you would not qualify for other federal funds based on your family’s income level (Pell Grant, work-study, etc.).