I would start with hiring an attorney around the area of the court that this involves. An attorney can sometimes set things up for the least amount of trouble to deal with things. Given you were a minor when removed from the state and are now just recently an adult, I think you are in best possible timing to handle this. As a minor you are under the control of your parent so you had no choice but to move and now as an adult you want to clear things up. Makes for a believable reason why it ended up the way it has.
If you wait, you lose that possibility quite quickly.
so, an attorney can see if there is a way to do most of this without you being present. I suspect you will still have to show up but hopefully the attorney can keep the actual personal presence requirements to a minimum. I wouldn't think the original charge would have required much other than fines and probation (just guessing though).
Of course, this is with the guess that you have been a good kid since. If you have a mile long wrap sheet, well, all bets are off.

