I want to get STD tested but i’m stuck… need help

Im 17 years old from a really conservative, religious household where sex isn’t even something my parents talked with me about. But i’m sexually active with my links and i’m on birth control. I’ve been hooking up with them long enough that we’ve decided to stop using condoms because it interfered with pleasure for both of us (please don’t lecture me about how it’s a dumb idea… I know 😕). But now i’m experiencing some symptoms, slight burning when I pee and brown discharge (my periods been over for almost 2 weeks now). I want to get STD tested asap but if I use insurance my parents will see and last time this happened it caused a huge riff with my parents and I was kicked out of the house for a week, but I don’t have enough money for even an at home test (I have $23 in my bank account… all of it goes to gas for my car. I need to know if what im experiencing is a real cause for concern and where I can get free STD testing or low cost in my area (from annapolis, MD). If anyone has advice or help it would be appreciated.