You do not have to wait any time before returning to the United States.
In order to be banned from entering the US for a period of time, you must accrue unlawful presence. The length of the ban varies depending on how much unlawful presence you accrued, i.e. how long you overstayed.
However, there is an exception: Minors under the age of 18 cannot accrue unlawful presence. Because your overstay happened entirely when you were under 18, it will not be held against you to bar you from entering.
You may still need to explain the circumstances when applying for a visa or to the immigration officer. So you should not say you never overstayed, but that you overstayed when you were under 18 (and possibly why your parents did this, if you know).
Credit:stackoverflow.com‘
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