Stuck and feeling hopeless because of controlling parents

My fiance and I were planning on moving in together and getting married this year. We had all these plans doing ubereats and doordash together and having our own baking business and I was going to have my own Etsy shop. He has Autism and I was finally going to try and get evaluated for Autism myself when I moved in with him. I had so much anxiety telling my mom but I finally did and at first everyone was ok with it until my mom decided she had to talk to his dad about it. The condo my fiance lives in is technically owned by his mom even though she hasn't lived there in 10 years. His dad made him tell his mom and she basically flipped out saying no to everything she doesn't even want to meet me. She won't let anyone live with my fiance until she's dead. So basically everything fell apart. Rob's dad talked to his mom so now I can visit him anytime I want I just can't live there. My mom wants me to get birth control first but I have never been on it before and have pretty bad health anxiety when it comes to side effects and stuff. I want to visit him in October because a huge dream of mine could come true if I'm able to be there then but I just feel completely hopeless right now. My mom keeps saying my car is too old and won't make the trip there. He lives in Ohio and I live in Virginia. He gets SSI for his Autism so he can't work much and I have never been successful in getting a job because of my anxiety which my mom has been in denial of for as long as I can remember she thinks it's a game or phase which is why I have never been able to get help. We don't want to have to wait until his mom passes away to have a life together but we can't just run away we would be cut off from all money and help plus my mom pays my car insurance right now. I don't want my godmother to be right when she told me I'm never getting married. What should we do? I feel very hopeless, defeated and controlled right now. Any help is appreciated. Thank you.