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When is it legal for me to move out of my house?

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My parents hardly ever let me leave my house as it is and when they do its almost everytime with a family member and sometimes not even them. They are all the tim yelling at me for something and I dont even do anything. I have a nine year old sister and the only one anyone ask to do anything is me, I feel like they are slaving me around. When my dad gets mad he takes it out on me screaming slaping and a few time has hit me.I'm honestly scared to be home. When he is there. Also they are all the time calling me something.(not nice things) I just want out...but I'm only 16...