@catgirlQueer Don't know if this route is applicable, but here's how I got out of a similar home situation in Berlin at age 20:
- got a legal advisor (not too hard, contacted the "Amtsgericht" I just had to explain why I wasn't capable of doing some stuff on my own)
- made that legal advisor contact the "Sozialpsychiatrischer Dienst" for assisted living
- then everything just kinda happened on its own and I got out.
That's the main reason why I'm mentioning it - it almost feels like a cheating route for something I had been failing to pull off on my own without a legal advisor for years. So maybe worth a try.