Finish up this semester and then withdraw. Don’t go into debt for next semester at Penn State.
It would be pretty surprising if most of your classes from this semester don’t transfer because they are probably intro classes. Even if, worst case scenario, none of the credits transfer, you would still be better off financially by switching to an in-state school.
Respectfully, since you are the one who will be making the payments, this is your decision, not your parents’.