I'm sorry that you've been having to live with family dysfunction.
Ultimately, the best person for you to ask about this would be a lawyer who practices family law in Florida state, or a social worker in your state. But giving this a cursory glance, it appears that no, as is the case in most, if not all, states in the U.S., you can't legally live on your own until you're 18 (or married, and let's not even get started with that).
However, what you could potentially do is file for emancipation so that you could move out if and when you were emancipated. If you want help for that, a good place to start might be by getting in touch with someone at Lambda Legal: https://www.lambdalegal.org/helpdesk
They have Florida staff for state-specific help, and if they can't give you legal aid in preparing for emancipation and doing all the forms and such, they can likely connect you to a service that can.