Is It A Way I Can Move Out Legally Without Getting Emancipated

I want to move out

I am 17m and I was adopted at a young age and I don’t really have a problem with the people that are raising me I just have no privacy I don’t have my own room I sleep on the couch and the environment outside of my home life is getting more unsafe by the day. My biological mom lost custody of me because of legal troubles a while ago but I still visit and I wanted to try and move in with her legally without getting fully emancipated and just finish school out where she lived she has more space for me over there and I feel like i wouldn’t get in trouble over there because it’s a fresh start. I don’t think my adoptive parents would have a problem with me going to school over there they just don’t want to get in any legal troubles because she dosent have custody so is it a way I can move in with her legally without getting fully emancipated and still able to come back home to my adoptive parents occasionally