Moving out at 16?

In need of some advice desperately.

I'm 16, turning 17 soon and I live in a pretty toxic household. My stepdad is very aggressive, smokes weed constantly and can be very threatening towards me and my mother at times. My mother also constantly gaslights and manipulates me and overall they are both not the best people. Its got to the point where I am heavily debating moving out; as I do not like the environment I am in and at times do not feel safe. I have a boyfriend who I've been with for a while, and him and his parents are all aware of what I'm going through and have offered me their spare bedroom to move into.

The problem is my parents are very controlling over me and would not let this happen despite it being legal for me to do so. So I am asking for any advice on ways I should go about this? I have thought about taking my things over in small batches but the thing I am concerned about is how I do it without them noticing. Also how I go about leaving as a whole, and if its worth doing this all together.

Any advice would be much appreciated. Thank you.