Would not be too worried on the SFO connection as there is plenty of time (over 3 hours).
I would be worried about the DFW connection of 55 minutes (legal but is it worth the risk?).
I'd feel safer on the 12:55pm departure since you really want your bags with you.
Your parents delay had nothing to do with preventable issues... your schedule would be better taking an earlier flight to avoid weather related delays (at DCA or DFW).