If you live in the US... Not unless your parents agree to allow it. And even then, there would be a multitude of issues that they would have to deal with, starting with giving this friends' parents some type of legal custody/ guardianship of you.
Most places in the world your parents have to agree to it, and some sort of custody or legal guardianship is a good idea to avoid future legal issues. If your legally emancipated then if your friends parents say ok then it's fine, but you have to be LEGALLY emancipated, not about to be or filing for it.
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