The things you mention are incompatible with adult children staying at home longer. The secret is to have some of those things be part of normal life from when

The things you mention are incompatible with adult children staying at home longer. The secret is to have some of those things be part of normal life from when they are little. Bring the laundry to the washing machine. Help fold it. Help cook Help clean, etc. Not that difficult. The financial side can be introduced initially through games and later on in different ways. It just takes forethought and consistency. And it doesn't have to be punishment but rather part of normal life.