Probation early termination, in Massachusetts?

I left home without telling my parents when I'll be home and where I am. They stalk me. I left. I usually stay over at my friend's house for a night then come home without saying a word to my parents the next morning or evening. I COME BACK. ALWAYS. They to the juvenile department and reported me for "running away" it's ridiculous. I understand that they worry about me but I run away because they yell at me constantly, put me down, call me a whore when I'm single...accuse me of several lies. And they treat my siblings like a normal kid. I'm the unwanted one. I'm on probation. I've always left my parents alone I've never bothered them. Now I'm on probation. Everyone thinks I'm like a hoodrat or one of those morally horrible teenager. My curfew is 8. It is the fricking summer. Who goes in at 8? I wanna sleep over my friends house. I've done everything that they say because they threatened to send me off to a foster care family if i did something remotely unlawful like refusing to take my medication. I come home before 8 everynight, I take my medication. Hangout all day, and tell them where I am then go home, go straight to my room. They've taken my life away and theyre still complaining about how I dont follow rules. What did i do wrong? Ive done whats written done, is there anyway i can terminate my probation early? or atleast let me stay over someones' house? I wanna live.