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What are those legal steps?

Doing an adult adoption by a poorer family member would do the trick (if you are over 18)

Or just marry your roommate. As soon as you're married (or get an honorable military discharge) you don't have to be saddled with your parents' income.

Probably referring to emancipation:

http://en.wikipedia.org/wiki/Emancipation_of_minors

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