Can I Live With My Dad Without Mom’s Permission?

In 16, turning 17 in less than a month. My parents are divorced and have been divorced before I even gained full consciousness, which was when I was 2 or 3. I’ve always lived with my mom, she has custody of me, I’m not sure which kind of custody but I’m allowed this visitation thing where I’m able to see my dad every other weekend and during breaks. I’ve been in a tough situation for a while now, to sum things up I live with my older sister (like 30f, different dad) and she’s been making both me and my moms life horrible. I wish I was exaggerating I’m gonna try extremely hard not to get into detail, but everything has been complete shit for the past couple of years, mainly due to her and her kids. We all live in one small apartment, I don’t have a car and I quit my other job because my stress levels had gotten way too high. My dad on the other hand, I’ve always wanted to live with him. I’m his only child, besides my older brother on his end with a different mom. He lives in a 4 bedroom home, has two cars, and everything I’m struggling with here regarding school, etc, can be solved if I had lived with my dad. I’ve asked multiple times over the past year, my dad has tried multiple times to get me out of this situation, and my mom refused. Her reasons for refusing are not clear to me, she either always avoids the discussion or mentions something my dad did In the past. No my dad is not a bad guy, if he was I wouldn’t be stupid to consider him an option. Due to her having always been so strict on my relationship with my dad, it’s hard to really connect with him from childhood to now. Not saying we don’t have a connection, but not to the fullest. My situation has gotten to point where I even considered running away to my dads, and he lives an hour and 30 minutes away. Obviously I can’t because I guess he could be accused of kidnapping? I don’t know what im even asking for anymore. Can I live with my dad? Do I really need mom’s permission? It’s extremely clear she’s never going to say yes no matter the life I live here. I want to still be able to go to school, etc.