There are teens in the world today suppressed by the people that they live, and then there are ones that live with their own parents and are able to live seemingly normal, happy lives, but there are circumstances in which one of these said 'minors' would do well, if not better, on their own than with the current caregiver, and would prefer not to be forced to stay in the situation they are in or placed into foster care.
The legal adult age right now is eighteen, but eighteen is too late. At that point a person is thrust into adulthood regardless, but there are some that are ready at a much younger age, and should be allowed to leave home without criminal persecution. Unlike emancipation, there needn't be any court involvement, just permission from the legal guardian.