NEVER left the parental nest, still living with his/her parents? Would you contend that this person is very immature in more ways than one? What would cause him/her to live with his/her parents when h/she should have established an independent life LONG AGO?
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I agree. People need to deal with their own households. It's hard being on the outside looking in. Thinking of things that one thinks would help might not be what is really needed. Like hindsight, Oversight often thinks it is 20/20 vision too.
I agree with your answer and like it. I'd add, though, that many/most parents would not request their child stay but many grown kids may elect to stay if it's a "no skin off my nose" situation what works well for all involved at the time.
At 21 he's still so young. Chances are what works now works now makes sense for them all. Eight or ten years now what works for all of them may change. It's not as if what anyone is doing today is the "end of the story".
He sounds very mature and it seems that his parents may need him there. and later on it seems he would adjust very well if he moved out of the house.