I still do DS1 and DS2's laundry (I don't iron much of anything but will do the odd shirt for a night out), and if DS1 is doing extra work at my school (TA supply in special school) on his days off...in addition to his own full time support job, I make his lunch when I do mine. He's 22. He's grateful and knows he's 'lucky' but as I'm doing laundry anyway, making lunch for myself anyway... I don't see a problem.
DS2 is 18 but has ASD and learning disability and has just learned to make a sandwich... the rest is going to be a slow process!
But until my girls left for Uni I did all their laundry..and beds, cooked their meals and oddly enough they are perfectly capable, independent women now, doing their laundry, cooking and paying their bills...
I DID make sure they could all cook a roast, make cheap but decent meals and budget. The could use a washing machine and did if they needed to do stuff at different times, but I genuinely don't get the angst over doing family stuff..for my family. We are all busy, all pitch in as needed!
I also gave lifts until DS1 could drive (neither girls do yet)... live rurally and 'make your own way home' simply isn't an option that was safe. However I DID expect advance planning... if you are going to need a lift, let me know before the day.. and generally mine arranged lift shares so I'd do one way and another parent did another.
None are tied to my apron strings (DS1 is about to go off travelling the world... !)
I just expect advance warning for requests, and if you need kit for tomorrow... warn me or do it yourself!