What are steps to move out from your family's house?

I (22F) feel like I grew out of my family's environment. I'm tired of my parents (71M, 62F) constant bickering and I have this codependency relationship with my mom. Yesterday, I had this argument with my mom because she recently got me disposable shavers. I took a shower and then she asked me if I've used the shavers and I said no I didn't. Then she told me that I have to learn how to shave even though in the past - she shaved my own armpits! Even when I advocate for myself, she said "No you're going to get hurt" and I'm like 20 years old. So I got annoyed about that and I forgot what I said next. But then she said that I gave her a smart answer and I remember thinking that I didn't say anything smart at her at all. Then she started ranting about how I have to pick my own clothes (My living situation is that I don't have my own room and my clothes are in laundry bags) and I've been advocating myself to pick my own clothes and she got annoyed about it. Then she said that I'm a "big shot now" and she's listing things people my age are doing right now. I'm honestly sick with living with my parents.

My mom is a doormat, she constantly bicker with my dad and my dad can be emotionally abusive with her. My parents seriously drained my bank account for their bills and my mom does pay me back. But my dad doesn't even pay me back. My family's apartment looks so messy like a hoarder house. My mom is such a doormat that she doesn't put boundaries with my dad nor my older unemployed brothers (37,28)

Currently, I got freelance work and it isn't much right now. They don't know about it though. But I just don't know what are the next steps for me moving out.