Is it normal that i kind of hate my best friend but we still hang out together?

So my bf and I have been friends for 4 years now. When we met we didn't have much in common but we realised we were both total fangirls by the time and became friends. After a year we were more like best friends and we've been seeing each other way too much in the past year.
But that's not the problem.

I kind of befriended her because she didn't have many friends and right now I'm no longer a fangirl whatsoever.
All that I liked about her (she's very intelligent and she trusts me and tells me secrets and all that) now I kind of hate it.
I realised she doesn't let me speak much and she needs my attention 24/7. Also we have to meet whenever she says and wherever she wants to and as the shy introvert I am, nothing of this is great and she knows it bothers me. I trully hate it when people doesn't let me talk because I feel like I'm a ghost and out of place and she even cuts in when I'm telling her my secrets.
Also, somehow she tricks me to do work at her house. Like isn't she supposed to do these things when I'm not there?

She's a good gal but I know that I'm more friends with her because I feel sad for her (family is rubbish and she doesnt have dozens of friends) but I can't. She manipulates me and I'm sure she doesn't even notice but it's driving me insane.

Should I still be friends with her? I feel sorry but although she's a "good girl" I also think she's not a healthy friendship for me? Help!!