Brother wants to know if he was wrong to steal my parents car

This isn't for me. It's for my 16 year old brother. He went through something really bad and I couldn't help me because I'm overseas with my husband who's in the military. I don't think he is and I told him I would even get opinions for him. He asked on Reddit and I still don't think he's wrong.

I(16m) am gay. I'm not out yet to anyone except my sister and best friend. My parents are extremely against LGBT. They're catholic. Me and my best friend have gotten extremely close. I would say we are more than friends but less than boyfriends if that makes sense. Well my mom ended up going through my phone and found out texts. She told my dad and when they confronted she was crying and he was angry. They both started yelling at me and my dad asked was I really a faggot. I looked him in the eyes and said "Yes." Which made my mom cry more. He grabbed me by my shirt and said he would not have a faggot on his home and threw me into a table. My mom told me I was ruining this family. My dad picked me up again by my shirt and I was thrown into the counter. I hit my head and it started bleeding. My dad put his hands around my throat and said if he ever finds out I'm talking to a boy like that again he will kill me. I managed to kick him in his balls and I kind of snap because I hit him back and kept hitting him and hitting him in the face until I was on top of him punching him. My mom started crying begging me to stop. I did. Left him there bleeding and took their car keys and stole their car to leave. I only have a permit but I know how to drive. I went to my best friends house and have been there since. My parents and I have not spoken. They did come by to get their car back but besides that nothing. I'm not a violent person or a thief. My parents have gone around basically saying I robbed them. Which is technically true since I stole their car. I feel like I should feel bad but I don't really... Am I wrong for what I did?