Could I move out of my mothers house at 16?

My mom and I have always had problems, especially around the time she gets a new boyfriend, but when i was younger she married my step dad and stopped. She met this new guy and they started dating, because of that she is divorcing my step dad, the man who has always taken care of me and loved me like a real father would. She moved me out of his house 4 hours away from him, she stole 400 dollars and now does nothing but lets her boyfriend yell and scream at me and she yells also. One night her boyfriend and her came home from drunk driving and he was kissing all over me, i asked him to stop and he would not, and my mother laughed about it and did not stop him. I am very very unhappy in this home, my brother and his wife have thought about fighting for custody over me, they are 26 and have a home of their own with room for me, is this possible? Maybe living with my father, or can I move out by my own choice at 16?