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I think it depends on the reason and on what terms you are leaving. If it is for school, marriage, to travel (missionary work, teaching, volunteering abroad) or for a better opportunity for work; then yes you should do what makes you happy.

Leave on good terms. Explain to your parents why you are leaving and how this will benefit your character.

Have your parents be involved in the process. For example, ask them to help you plan, or be involved in the decision process, or help you make better decisions.

This will grow your relationship with them.

Just make sure while you are away to talk on the phone all time and show them how to do video chats okay :) :)