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The age of majority in Texas is 18 - see: http://law.justia.com/codes/texas/2005/cp/***-**-****29.00.html - this means that even though the child was "kicked out" their parents are still legally responsible for the child, and the child is still subject to their parent's control.
Taking in a child like this can be problematic unless you have some form of legal right to do so - the most common is a "guardianship" - see: http://texasguardianship.org/guardianship-information/guardianship-basics/guardianship-process-2/, but be aware, this places the full legal rights and responsibilities for the child on the individual or individuals that are applying to act as guardians for the child.
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