Are you referring to children, they want the parents to back off but kid still lives at home?
"Emancipation ends the legal authority that a parent has over a child who is under 18. After emancipation, your parent doesn't have to take care of you or pay for things that you need. Emancipation changes your life. You will have some new rights and also some new responsibilities."
Or are you referring to a different type?
There are three types of emancipation: emancipation by marriage, judicial emancipation, and limited emancipation by authentic act.
I don't know anything. Just doing internet searches.