I feel your pain that after all you do for your DS he clearly does not care enough about you to make sure you get home safely.
My DS lives home too as still saving his deposit but he is moving out next April. He does all his own laundry, changes his sheets, cleans his room and bathroom. He cooks for family once a week. He helps around house like empties rubbish bin, empties dishwasher, puts away grocery shopping and is ace at squeezing things into freezer by shuffling things around to make more room.
Sunday he invited me out to breakfast. He does this or invites me out to lunch every 3 weeks or so to catch up with me. He will insist on paying even though I try to pay. I get an occasional bunch of flowers or if he is going to McDonalds he will always ask if I want a McFlurry ice cream. Sometimes if he is out he just brings me one. About every 3 or 4 months he invites me to a cream tea out in nice hotel. If he is out and I ring and ask if he is passing supermarket could he bring bread or milk he will always do so. He goes to cinema with stepdad occasionally or for a drink.
Your son should be valuing and respecting you like this OP. You need to make him value you more. Casually tell him as he will be moving out soon he will need to learn to wash his own clothing and change his own sheets. Show him how to use washing machine then leave him to do his own. Tell him he needs to learn cost of things. Tell him all utilities have gone up and he needs to make contribution towards them.
I charge my son £300 per month. That covers all food although he is out with friends a lot any only eats dinner at home about 3 times a week. He has Virgin very fast internet in his room for gaming. He has Virgin Movies, Sky Sports, BT Sport's, Netflix, Disney + and Amazon Prime all in his room. It covers his share of all utilities and he gets the free phone contract with the Virgin package.
When my son moved out I will miss him a lot but I absolutely know he will keep in close touch and still treat me well. We will still go to a breakfast or lunch every few weeks. Perhaps he will let me pay sometimes then.
I know my son would never let me walk home in dark. He would insist on coming to pick me up. You need to book a taxi or Uber and start charging him keep. He has had a helping hand but has chosen to take you for granted. You need to show him you value yourself and he must show you respect.
Once he moves out he will realise how much you have done for him. I think your relationship will impress then. Don't let things carry on as they are OP. Force him to change.