My Parents Refuse To Let Me Move Out.

I have a lease signed with my parents. I currently rent a one bedroom apartment (in their basement). My parents are saying I must have around 5k saved up before I move.

For context, I have tried to move out for some time, but to no avail. My current lease is coming to an end, and my parents say if I try to move out, they can take me to court. What for? I have zero clue.

I have sat them down and talked to them about moving out, but they feel like as though they control me and are trying to get me to stay even longer, which has led to countless fights and arguments.

I am at a loss for what to do, should I contact a lawyer in my local state?

For reference, I do have a few things saved up. I have a place lined up. I am of legal age, and can move out according to my state law. I just fear they would try to legally get me in trouble for god knows what, and I feel as if I am being paranoid, but I cannot fathom living in this house anymore.

I think my question is more so my bills.. you see my car is technically under their name but I pay for the car, insurance, and all. I also pay for a majority of their things, such as their phone, internet, etc, which is why I feel like they are taking advantage of me and wanting me to stay, (and I think they mentioned they can take me to court over the car? [it was a verbal agreement.] )

I am at a loss, because I do not want to go to court with my parents, it unfortunately, it looks like it's heading that route.