Get a lawyer, get this settled, then break away from the abusive people. You are well into adulthood, & if you are truly "emotionally healthy," as you say, then use your common sense and atart acting like it.
need more info
your mentally ill if you want to stay in that situation. but tbh you better keep up with your school work so you dont ever have to deal with this **** again.
Go to court with an attorney. If you cannot afford one ask for a public defender.