"The problem, however, is in trusting all parents to be capable or willing to give a truly objective opinion when they vote. "

Neither can you trust the State to give an objective opinion. And neither can you trust the child to give an objective opinion.

Parents may give a non-objective opinion, but that´s why they should be one vote out of three - they can be outvoted by State and child agreeing on a different decision.

"This is why I support Robert Epstein's Epstein-Dumas Test of Adulthood to determine the capability of any given minor to be awarded either limited or full emancipation."

And?
Just because a child does not generally have the capacity to be emancipated does not mean that the parents may not be wrong, and the child happen to be right, on some specific question where the State ends up being called to mediate.

"For such an important decision, the youths in question deserve to request a totally impartial and objective committee to make the decision based on good empirical evidence, not based on emotion or any type of moral or political agenda that doesn't consider liberation."

Good luck finding such a committee - and if you do find them, it is even harder to get voters to approve it as "impartial".