Emancipation?

(CW: brief mentions of abuse, swearing)

My mom has given me a choice:

"Change" (meaning be more grateful) and stay with her or stay the same and leave.

For some background, I don't keep up at home life very well. Messy room. Anti social. I'm also very clumsy and accident prone and I have no idea how to fix it. I focus almost all my time and energy into academics, music, and work. My mom takes my absent home life as being ungrateful and calls me a spoiled ***. Told me that she doesn't feel happy about my my accomplishments anymore and that she's "given up" on me. Harsh, right?

I came from an abusive household living with my dad. My mom fought very hard to get me out and now has full custody of me. I'd like to make it very clear that without these actions, I'd be dead or almost there. I am forever grateful for those sacrifices. However, her sacrifices from 8 years ago don't justify her actions since I've been living with her, and she doesn't like that I don't think she earns my automatic respect, especially after she's insulted me severely ever since I moved in with her. Verbal insults.

I tried for years to change for her. I went through so much behind closed doors just for her to be proud of me and nothing. I figure that if I can't change enough after 7 years, I won't be able to in the next 1.5 years before I move out. I might as well end my misery and move out.

If I were to move out, I have a stable, comfortable place to stay. I have a job. I'd have a family. I would be okay. However, I can't bear the thought of leaving my brother behind. It just crushes me. On top of that, I don't know the first thing about emancipating. I'm not letting her see my phone and bank information if I leave, but emancipation is the only way I see around that.

So thoughts? What next steps can I take? I have full permission from both her and the adult who lives in the home that I'd like to move into. I am 16 years old. I had a car until she took my keys, but I have a boyfriend who will give me rides and I have money for bus/uber.