My parents also pulled me out of the public schooling system in order to homeschool my siblings and me. I honestly think it was the best decision they could have made. I graduated a couple years ago and now attend a private college over 12 hours from my home town. The typical stereotypes as mentioned above come from a very common misconception about homeschoolers: they lack social skills. I'm not going to try to tell you that all homeschoolers are as socially experienced as public schooled kids, but you cannot tell me that homeschool kids are known for being as rude and unintelligent as the majority of public schooled kids.
Most homeschooled kids don't socialize as well with other kids but they can communicate with adults. They also receive a better education because it is a system designed for them in particular. Is the system perfect? No. The easiest way to fix many of the faults lies in ensuring that your kids don't stay home all the time. Having friends is important. At the same time, kids that grow up in dysfunctional families often don't know how to form real relationships when they're older or resolve conflict.
If you're thinking about homeschooling, my advice to you is to give it a try. Connect with other homeschooling families in your communities for support. It will be hard at times but in the end you'll have confident, intelligent kids that know how to socialize and are able to excel in whatever capacity they're in.