Do I have the right to and how do I get my money out of guardianship and move out of my parents house if I want to?

Yes you can !!  When a guardianship was put into place, you were a minor, and now you have reached the age of majority.  you will have to prove to the court that you are not "incapacitated"  as that term is used in the law (and it seems from the question you have posted that would be very easy to prove).   Although you want "free access" to your money, you should be careful and make sure that you hold the money in a way that would allow you to get governmental benefits that you would be entitled to.  You can structure the funds to allow access to a portion, and protect a portion in case you get to the point of needing Medicaid.  What county do you live in ?  Do you have copies of the original guardianship papers?  when your parents won the case, did they put the money into a trust?  Feel free to e-mail me directly or contact my office.  Good luck !