Would I be able to leave my home legally and not be forced to move back?

So I moved in with my dad about 4 months ago, because I had been living with my mom but we had differences in religion and it caused major problems so I moved in with my dad, and I knew it wouldn't be that much better but I would have a little bit more freedom as well as moral relief, and I didnt try to move in with someone outside the family because I knew the law only truly protected me in the family and I had not turned 17 yet anyways, but now I am 17 since July 1st. But my dad subjects me to tremendous stress and verbal abuse. He constantly is yelling at me, stating that I'm stupid and I'm dumb and he should put me in a mental home because I can't think clearly and I am incapable of using common sense and all these other things. The reasons why he says this are very trivial, such as I forgot to do something like turn the lights on around the house at night or while I locked the house door, I forgot to lock the screen door or I forgot to take out the trash, or even that I misunderstood or didnt hear clearly what he said with his deep toned voice. I am hard of hearing so I have trouble hearing what he says, especially when he mumbles in an attempt to yell at me for not hearing him, and he words things strangely to confuse me so that he can yell and say those things, also blaming anything I enjoy doing on why i'm so stupid, anything from video games to my girlfriend, just to find a cause for him to "fix". I will add more in the updates or comments due to lack of space