Tim can't escape Robin. It's a self-inflicted curse brought about by his self-sacrificing tendencies, his need to feel useful, his continuous labor to Bruce, and the cycle of abuse.

He could be so much more than the mantle he chained himself to. Unfortunately, he hasn't healed enough to find self-worth outside of vigilantism and his ties to the Waynes. He also may not recognize that he's stuck in a cycle of abuse when he's (as far as I'm aware) only been hit by Bruce once. All abuse is horrid and has their own perils. Emotional abuse can be much harder to spot or acknowledge (especially when compounded by their situation as crime-fighter leading to easier excuses for drastic measures ["he psychologically tortured me to make me a better hero"]). Tim will need to willingly set boundaries and build his self-worth in order to flee the clutches of Robin. His love for Bruce makes this process extremely difficult.

Batman needs a Robin. Bruce needs Tim. Until Bruce can function without a child-made crutch, Tim will always be Robin (Red or not).