In Texas if you are 15 can you parents stop you from going to live with a friend and can they take legal action against your friends family?
Yes, they can. The 15 year old is a run away, and the other family is contributing.
Is it necessary for your family to invite themselves over to your friends and stay the night when your friends parents do not like it?
It is rude for parents to invite themselves over to your friends parents home without an invitation. There is no reason you can't enjoy time with your friend without your parents being there and the only time one of your parents should come to your friends home is to pick you up to bring you home. However, it is up to your friends parents to say something since they find it annoying.