Currently unsure what the necessary steps are.

Location: MN, St. Paul (Minnesota)

I’m 16, I’ve lived with my parents for almost my entire life. My goal was to just move out at 18, and move in with a friend who’s married, that I’ve known for about three years (21M)., However due to an incident where my dad abused my dog Atlas, I decided that I was not going to keep dealing with that, and instead emancipate at 17, preferably this December.
I dont have a job yet, nor a drivers license because my parents want me to buy my own drivers ed. Which is a complicated issue when I literally can’t get a job without transport. HOWEVER, The friend of mine has stated that he’s very willing to let me move in with him and his wife in ND, And they would immediately pick me up if necessary.
This friend, also has my location 24/7, and was told that if it ever suddenly “stops”, to immediately call authorities.
Max however, (the friend), is financially assisting me. About 100$ every month week, which I’m thankful for.
I intend to somehow get a job this summer, And hopefully find a way to get my parents to buy me drivers ed.
At the moment, I’m trying to decide what things I should be remembering to bring up when I go to authorities.

But I’ll give you the full rundown of everything (major) that’s happened
House stuff
The house rules: (excluding obvious and common house rules)
Doing every chore in my house except for taking care of my baby sister. And technically going grocery shopping.
If I forget to do a chore I get grounded.
If I don’t clean my parents room once a month,, I get grounded for a month.
Not allowed to close my bedroom door, ever.
If I have a class with a grade under a B+ I am not allowed to play the game at all that month.
And then there’s 2 small stories They were very specific circumstances. So I don’t really count them.
The three circumstances:
I was about 9 or 10 when I randomly got bored and thought about which it would be harder to live without: “legs, or arms?”
so out of curiosity I asked my parents “Would you rather live without arms or live without legs” and they said “neither”.
I said legs because I need arms
and then my mom looked at my dad and then my dad grabbed me and held me down while my mom grabbed a knife. Then my mom pressed the tip of the knife against my leg.
And I could feel it
It hurt.
I t   h u r t   a   l o t.
and it drew blood, not a lot. Just a couple drops. I can recall my mom said “if you ever ask another stupid question like that, you’ll lose your legs for real” before I was sent to my room and grounded for the next week.
It happened practically 5 or 6 years ago.
Another time, My father asked me to grab something from a drawer. I was about nine at the time, and I can remember that when I checked the drawer, there was a box of cigarettes in it, which I moved up because I was trying to find something else. When my dad saw me holding those cigarettes, he immediately got mad, and punched me in the head.

The father incidents:
 So the first time was when I was in 5th grade, I couldn’t sleep and I hear my mom yelling at my dad because he threw her phone and I didn’t know what was happening 
then after that my dad pins my mom to the ground in the hallway and is threatening to bear her up because he was looking for his credit card or some type of card. And my mom is telling me to run and call the cops and my dads telling her to shut up and I’m having a panic attack because I didn’t know what to do because I didn’t have a phone so I just ignored it and grabbed a drink of water and then my dad found whatever he was looking for and left and came back about a week later without saying sorry or anything.
Next Story
I was simply asleep and my dad just starts hitting my mom in the other room and I hear my mom screaming and then she runs into the bathroom while my dad yells About someone calling him evil (he’s drunk at this time) and then he comes into my room and tries to choke me out but I kick him off and also grab my phone and run into the bathroom and call the cops because my mom is bleeding and she’s holding my baby sister (she was like 1 and I had gotten a phone about a year earlier, this happened when I was about 12) and then they arrive and they converse with my dad and me and my mom and my baby sister leave and my dad stays without any punishment which confused me, so we go to Cheryl’s and then my dad says sorry this time however he drowned my moms makeup in the bathtub so that happened 
Final Story (most recent as well)
I hear my parents yelling while I’m playing a videogame and then my dad starts threating my mom and then he starts threatening me and then I call the cops because considering what happened last time I wasn’t in the mood to take any chances, (this story also comes with audio if you want me to send it to you) and then they arrived and my dad says I’m dead to him about 15 times and I break down on the inside while trying to keep my calm “everything’s fine” personality on the outside but I end up breaking down because of everything in life just falling apart but that was the first time in years that my emotional wall had ever failed I felt so much at the same time that it just couldn't really keep up. and then my dad leaves and then the cops also leave and then my dad comes back and tries to kill me but my mom pushes him off me and I have to flee the house (it’s February 4th, Saturday btw, freezing cold, and I don’t have socks or shoes on) so I run to the neighbors and they don’t open the door (it’s also 1AM) and then I run to the bar across the street and have to use a random guys phone to call the cops and then the people at the bar let me in and I warm up and remember that my mom had a friend who worked at the bar and ask to talk to them and then I tell that friend everything that’s happened. After About 10 minutes the cops bring me back home in the car and I hug my mom when I see her and she explains that she also called the cops. They asked me a couple questions like if I felt safe around my dad or not (and I obviously said no) and then they end up finding him in the garage. He gets out into jail until Monday and I go to Cheryls (grandmothers) until the next Sunday because I’m not in the mood to see him anymore. Also he had destroyed my room and I have pictures of that too. After all of that the wall rebuilt itself, stronger than it ever has been, before I could at least feel a little bit of emotion, but now there's nothing. No empathy, no sadness, no happiness, just a hollow shell.
The interesting CPS incident.
So around the very beginning of May, I went radio silent and missed church for like a week, and because of this one of my very close friends decided to call CPS to my house to make sure I was okay. And the reason I went radio silent was due to getting a B- on a test. However when the CPS agent arrived, I only told them about 2 of the incidents. The knife incident, and the more recently father based incident. They asked me a couple questions about the relationships of my parents and I said that it was “Not the best, but not horrible” because I didn’t wanna say anything bad. My parents were downstairs while the agent spoke to me. Once the agent finished their questions, they told me they were gonna tell my parents what I told them, and asked “how do you think they would react”. Which caused me to react by internally panicking.
I told the agent that “they would probably be mad about me bringing it up again”
And when they brought my father up, he was very angry about the mention of the father incident, and my mom was downstairs but she was calling my dad, so she spoke through his phone.
When the agent asked my parents about the knife incident, they immediately denied it, but their voices didn’t seem right, so I’m nearly certain they weren’t telling the truth, the also let out that usual nervous laugh some people do, if that makes sense. However they still won’t talk about that, and I don’t need to ask.
As soon as the CPS agent left my dad hit me in the face, before my parents said that I was going to be grounded for the next month, and not allowed to use my phone, or any screen whatsoever. After the time passed, I eventually caught up with my friends. I was not mad at the friend who called for the CPS, but I was still a bit confused as to why the agent believed my parents without any other questions.
My dad also did something a bit worse at one time.

Spoiler because it’s VERY bad apparently.

!A while back, like a year or two ago, I had a……….Certain picture of myself on my phone. I never sent it to anyone because I’m not that down bad. Idk why I took it tbh.!<
!Later on like a couple months, my dad is going through my phone, sees that picture, sends it to himself, and then deletes the message. He never mentioned it. I will not mention it to him. Idk if he still has it or not.!<
Now for the recent stuff with my puppy,
Proper recap:
Event 1:
Atlas is bored and starts running  around like the average puppy.
dad who is playing CoD like the NEET that he is, doesn’t pay attention to him.
Atlas paws at dad’s legs, wanting attention/comfort.
Dad KICKS ATLAS. HARD.
Atlas yelps and then runs away.
Dad doesn’t care.
Five minutes later atlas won’t go to dad.
Dad gets mad so he kicks atlas AGAIN. And says he doesn’t want anything to do with the dog for the rest of the night.
Event 2:
I love dogs. I like animals. And I hate people who abuse animals.
So my dad, thought that when atlas, a PUPPY.
P U P P Y 
went pee on the deck.
That the reasonable response was to kick him, hit him on the nose and ear, and then take him inside, and throw him down the stairs, and kick him into the kennel.
Whilst saying “I hope he dies”
March 27th, my mom scratched my hand and caused it to bleed because I was listening to Christian music in my headphones.

NOW, here’s the question:
How do I proceed? I want to take legal action and get out before I hit 18, because I was told by someone that if I wait until AFTER I’m 18, Then I’m completely unable to take legal action against my parents. Is this true? And if so, what is the next step? An attorney? CPS….again?