It's not a black and white thing, if you leave to try to make your own way, live on your own, that doesn't necessarily mean you're abandoning your family. You can still keep in touch, talk to, support, or do whatever else you want to do with them, without being in their presence 24/7.
If there is one thing I have learned in my life, it is that you cannot live your life entirely defined by someone else. At some point, you really do have to just do for you, or else you'll never really be happy. Likewise with shame. The only way people can make you feel shame is if you give them the power to make you feel that way.
Sometimes the next step we need can be a sort of leap into the black. Will you be happier when you land? Maybe, maybe not. But there's only one way to find out.