My god man. Okay, jokes aside, I'm gonna be real.
Tell you the truth, no one is ever "ready". We stumble through life blind, barely the flicker of a candle wandering in the dark. Sometimes to find your way, you gotta take a leap into the deep end, and get your ass kicked by the world for a few years.
I left home at 18, was homeless for 6 years, got married at 25(still married), and... I'm still wandering.
But it helps to have another light beside you, even if it is your mother(for me its my wife). My parents wanted me to come home, but I was too damn stubborn. If your mother will have you, don't feel ashamed or afraid to take the support when you need it. Or you can fail, reaching your lowest point, learning how much you can take, what you won't stand for, and what will make you find your will to grow. You will find who you really are. You can do it.