There comes a time when a parent should finally cut the umbilical cord to their children. Definitely adult children. Or at least the adult child should do so from the parents. That doesn't mean never see or talk to each other. Just not be so dependent on each other. Adult to adult. Childhood OVER WITH. Then you can start feeling like he can manage without training wheels anymore. It would be a favor to you both and something to feel very proud of. A person with ADHD can do anything a person without can do. My husband and nephew are examples. There is no intellectual disability present.