my toxic ahh grandparents

So I live with my grandparents, always have and recently I've been crudely reminded that they've been very shitty towards me throughout my whole life. This includes; threats to kill me if I call CPS, crushing me inbetween a wall and a door because I was trying to hold my door shut so they couldn't get in my room, constant belittling me for; my messy room, my appearance, my fashion choices, my stresses and triggers, etc., treating me like there personal maid (I get you have problems moving around all the time but you're fully fucking capable of pouring your own glass of milk teresa), refusing to take me to a hospital after breaking my finger and other internal pain, constant control of where I am and what I'm doing, and much much more. Clearly, I don't want to deal with this bs so I'd love to move to a different household in my family. Ideally it would be my uncle and his gf's apartment but I know they might not be able to financially support me, their kid and their cats so I'd feel bad for asking them but I really want to get out. Unfortunately I don't have any direct cases of physical abuse so I can't call CPS but I don't feel comfortable in my house. Does anyone have some advice on what to do or how I should go about this?