We need to get out but don't have money

My father has always been angry, yelling, and never seemed to love any of us. But at some point it turned into he seemed to be attracted to me (not gonna say my age but a minor) he has rubbed my thighs, much higher when we're in private but still rubbing in public, he walked in on me changing even though I yelled "JUST A SECOND" and he claimed it sounded like I said yeah. I have a lot of PTSD from his yelling and anger and my sister has become a different person than she was before he started yelling (which was when I must've been 5-7). I talked to my mom and we know we need to get out. My mom wants to get a divorce but we don't have enough money, and my sister will be ruined. Me and my sister have pretty prominent autism and depression, things like that, and we just moved a year ago and if we move again or make a big change, like divorce, we don't know what'll happen. But we need to leave. I can't recover and heal as a person if we don't leave. But we don't have enough money for this. My dad makes about 100k a year at his job in Boeing, and my mom is a massage therapist, making a few hundred dollars on days she works. We live in Washington if that helps, please any advice, resources, anything we can do to get closer to our escape. Please.