I’m really childish. Has anyone moved past this?

I was neglected and abused as a child. I had poor mental health my entire life including now, including executive functioning problems. I’m 19 turning 20 in a few months. I live with my family and I’m not independent at all. I barely leave the house, I don’t have a lot of experience with the outside world. I have poor social skills, my partner told me that he’s sometimes embarrassed to be seen with me in public because of that and I agreed I need to fix this. I’m also a stupid person, I barely graduated high school. I’m behind on everything.

I act childishly with my mom sometimes, it’s hard to explain how but she seems used to it because she also treats me like one. I think maybe I age regress sometimes but I’m not sure what that means. And I enjoy childlike things as comfort sometimes, but what I mentioned prior is not something I consciously choose to do unlike this.

I see the state of my life and I feel defeated that I will forever remain a child. I’ve been trying to form good habits before but I’m always having to retrace my steps. Therapy is hard to access because my family doesn’t want me to waste money. Has anyone been able to live independently? Was anyone in my position as a young adult and have you been able to mature? Did you need help for this? I want to be more independent so I can live without my family but I don’t know how.

TLDR. I’m a childish young adult who is dependent on my parents, and I want to know if anyone in my position was able to mature and be independent