Can I move out of a depressing household?

I am 17. My parents are separated. I used to live with my mom but we had a huge, pointless fight over something extremely stupid. It ended up physical but I don’t totally blame her. I realize that I was wrong for swearing at her and calling her names, but it was wrong for her to come after me. We both kind of have anger problems because of the depression, anxiety etc. I currently reside with my dad because of the fight me and my mom had. She said she can’t deal with me anymore. All my life I have moved from school to school and even out of state. I don’t trust anyone except my grandma and my boyfriend. As I was growing up my dad was never home and my mom was an emotional wreck and just dropped me off at my grandma’s. I’ve never had anyone to REALLY tell my problems to and I’ve never had that someone to just tell me “It’ll be ok, everything will be all right”. Now I live with my dad and he’s all about family. But I’m to the point where thats not what I want anymore. I wanna start my own life and figure my own problems out. I have become an independent person. Cleaning my house doing chores taking care of the animals. I want to make my own decisions so I CAN better my life. Because right now, I am a depressed emotional wreck!! and I do have a job, I do pay for most everything I do and buy.