I told my daughter it would not be feasible to live with us so we have spent a lot of effort getting her subsidized housing. So far, so good. She needs her space; so do we.
She had a messy financial/legal situation and it would never have gotten that bad if she had taken my earlier advice. I need what limited brain capacity I have to figure out my own affairs of living. I told her I simply could not help her further with that matter. We did connect her up with a social worker who has made still other connections for her.
I guess what I'm saying is, it's up to your family to be "adult" about it and set limits as to how much burden they can comfortably stand. My daughter does create a minor burden but overall I am very happy to have her as my daughter.
Ezra, at your age, you are still expected to be housed and fed by your parents, and would be even if you had zero disability. So stop worrying about the burden until later on. (kidding)
Everyone should stop to consider that there can be contributions that offset a burden. If you aren't making them, perhaps you should start so that you will feel less of a burden. A few chores, or babysitting other children in the household, or assistance with a project such as a home repair, or taking care of the pets, or filing all the paid bills, these are things that might make it plain enjoyable for someone to have you around. Also showing concern for their aches, pains, and worries can make you valuable. And although it may not have occurred to you, simply being home to let the appliance repair guy in can be quite valuable to a parent who works a full-time job.
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A finger in every pie.