Practically how do I get myself out of this living situation

Been stuck for a long time living at my parents. Damaged me a severe amount. I get too overwhelmed when thinking about signing a lease and have barely any energy to research, tour places, move. I've gone to a hotel a couple times but that's expensive and temporary. I've considered going to a shelter, but I'm not at that point yet. Do I just sign a lease and order a mattress and just deal with what comes next? I don't want them to know where I live. I'll probably need a cosigner and might be able to ask someone to be it. I just want a place to crash or someone to be with me while i move and I literally have no one. I've moved before and just ended up right back at their house and don't want that to happen. I just need massive help and idk what to do.