My dog mostly ignores me in the day, but if my parents go out so we are alone at night he sticks to me like glue. As in, he refuses to go to sleep unless we are curled up together. If I move so I’m not touching him, he wakes up and shifts closer. Like, I love him and I like him paying attention to me, but it feels like he doesn’t trust me home alone? And if I go into the bathroom or something he just lies by the front door whining until I come out. I don’t know how to make him feel better

Sounds more like separation anxiety than mistrust. He just wants your parents to come home!