They are rude to adults and I feel humiliated

What to do right now

They said the thing, or used the tone, and you are mortified. The rudeness was not calculated. ADHD verbal impulsivity means the thought became the spoken word before the social filter could engage. Address it after, not during. 'The way you spoke to that person came across as rude. I know you did not mean it that way. Next time, try this instead.' Give them the replacement, not just the correction.

What your brain just did

Your body

They said something rude to an adult and you are mortified.

Your brain

ADHD verbal impulsivity means the thought became the spoken word before the social filter engaged. The rudeness was not calculated. The output was faster than the assessment.

What this did

Address it after, not during. Give them the replacement phrase, not just the correction: 'Next time, try saying it like this.'