I also moved out with 19 and my dad said if I go I should never come back. Well our relationship now (more than 20 years later) is very good. You must take Maui with you. It doesn't look as if any of your parents really could take the responsibility for him/her. I wish you and Maui a good start. You are an adult now and you will see that you can find a happy life if you make the first step.
Keep us posted.