In Minnesota how can a 16 year old move out on their own?

Hello, I am 16 years old and i live in minnesota.Living with my mother and stepfather isn't good for my mental health.It's not just "being a teenager" either.Being around them puts me in an unhealthy depression.My father is an alcoholic so living with him or depending on him isn't a very smart choice either. I know about emancipation but it seems pretty hard for that to work.I just want to be on my own or stay somewhere else so im stable and happy.If you know of anything please let me know I would honestly be thankful. :)