My parents think im still a minor but im almost 20 years old?

my twentieth birthday is approaching, and my mom thinks im still a minor, and my dad doesn't even know how old i am. we live in Pennsylvania, where im pretty sure the legal age for almost everything is 18, maybe except drinking which is 21. im making some plans ahead of time to move out, i want to find me a real life, like im suppose to have...one where i go away for college, i get a part time job a and i have at least a little fun and i meet some friends( pathetically i have no friends, no REAL friends) i think that im missing out on so many things all due to my VERY over protective parents. Im going to admit i don't like my parents LOL but since they're my parents i have to love them...and learn to live with them, but its time for me to get away from this torture...im almost 20 years old and i feel so pathetic by the way my parents are running my life!