I'm not being an edgy teen but I need to get the fuck away from my parents. Is there a way I can just pack up a tent and hit the road.

Bonus points if you can tell me how to do it with a cat with me

Are there places where you can legally set up a tent and still be able to catch a bus into a city or something? I don't need a lot to live and I have enough money to buy food and supplies as needed. I don't mind commuting long ways to work and living a shit life as long as I have my independence. I honestly wouldn't mind waking up to rain drops and birds chirping and taking an hour long bus ride into work.