The journey of a thousand miles begins with a single step... You've just made that step.
Have you talked to your parents about what you want, sounds like they love you and would help you do what's best for you, right now they're letting you call the shots. You parents seem like lovely people who are just unsure of how to help you, so instead they are just protecting you and allowing you to hide from the real world. Talk to them... Tell then you'd like to be out on your own in two years (or some reasonable time frame), and what do you have to do to make that happen.
Why won't you let your siblings help you? Part of being independent is knowing when to accept help from others, and sounds like you need that boost to get you started on your way.
Give yourself small challenges to do, go to the mall, and take a lap around the mall, smile at people, you don't have to talk to them, but it gets you out of the house, and in public.
Have you considered talking to a professional? No problem is unsurmountable if you break it down into small pieces, but a professional might help you do that breaking down.
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Free your heart from hatred. Free your mind from worries. Live simply. Give more. Expect less.
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