Can You Get Emancipated to Move In With Someone Else

My question involves juvenile law in the State of: Missouri.
My parents are verbally, mentally, and sometimes physically abusive (this one is rare.) I have been looking into emancipation since I was 15 but it never seemed worth it to even try until I was at least 17. Now I am looking into it more seriously. I want to emancipate but is it possible for me to emancipate either with parental consent or otherwise and move in with someone other than my parents. I have been looking into it and its still unclear

If your parents tell you that you can move out, you don't need to be emancipated.

If you cannot support yourself without someone else, you cannot be emancipated with or without consent.