I just found out tht my dad and step mom have custody of my son which I have not sign him over to them and my son lives with me I take care of him. What can I do?
No.
No, if you are her guardian (you have custody) then she cannot do that until she is a legal adult.
Unless you are constrained by some legal requirement you are free to travel with your children as you please.
Generally no. A change in custody must be made by a court order.
You can get in trouble for not telling the birth father about the baby. It is not only unfair, but I think he can take you to court.
yes he can.
If both parents have custody, then they have an equal say, and you would need permission from both. If only Mom has custody, then you certainly could not move out without her consent. If only Dad has custody, then I suppose you could move in with someone else with just his consent. And Mom could then petition the court and request that she be awarded custody, and her request would very likely be granted.
If none of your parents have custody someone must have so this is something the court will decide. They might ask for your opinion but they are not obligated to follow it.
file for sole custody and file for child abuse and you will have possibly sole custody of thew child
If you live in the US... Children are not property and therefore cannot be 'willed'. You can state in your will who you would like to receive custody, but the court is not required to abide by it. For example, if Mom has custody of a child, she dies and her will states that she wants her sister to receive custody, but Dad wants custody...Dad gets custody, unless he can be proved unfit, because Dad has first legal right to custody (Mom's wishes don't change that).
Not without the court's permission if your mother has legal custody. And if custody has not been hammered out in court yet or she otherwise does not have presumptive legal custody, if she is awarded custody of you, you can be compelled to return home until you reach the age of majority in your state (18 in PA).
Taht's dependent on the custody orders.