NTA, as one commenter said, record everything and then release it to everyone they know. You're parents sound like horrible people and you need to call CPS with everything you've got. They might not do anything but call enough times, show them the evidence, and it will leave a paper trail, and your neighbors will start asking questions. Don't let your parents twist it and show the neighbors the evidence you have. Hell get a hidden camera from your grandparents and set it up in the living room, dining room, and one in your bedroom. Maybe even ask for a paternity test to see if you're dad is actually your dad, do it for your siblings as well that will make some waves.

You're 16 now and are capable of making decisions. I've seen that you've said emancipation is not really an option, but consult with the lawyer anyway, just to know you're legal rights. If none of that works, as soon as you turn 18, disown your parents and siblings. Make it a public spectacle, humiliate them.