Hey man, I know how you feel. You're older than me but I'm in the same situation. 22 years old, I work a dead end job 6 days a week sometimes 7, and live with my mother.
My mother and I really don't get along. She's an alcoholic and gets violent mood swings through her drinking. My father and I also have a bad history together. I've been kicked out of the house off and on and have lived everywhere from outside in a tent in the woods, in a broken down van, and crashing on friends couches. All I can say is be thankful that you're parents welcome you into their home. Also, if you want to move out.. Set some goals for yourself, and once you have these goals organized, take action upon them. Do not hesitate one minute to do this!
I personally want to get out of my mother's house as soon as possible, so I decided to sign up for some courses at my local community college and get my associate's degree. In the meantime I'm saving every penny that I can from my job.
And one more recommendation. Pick up a copy of "Think And Grow Rich" from your local library or bookstore. This book is truly motivational and has changed my perception on life in the most positive way possible.
Good luck Steve, I wish for you the best!