We have an ASD son who is 23 and is unlikely to ever move out he's even said so and that's fine with us.
He lives quite independently in that he works, drives and can cook and clean but he doesn't cope well on his own and is mentally more like a teenager.
He has no friends and never goes out except to work when we're all out.
He sits with us all evening on the sofa between us in the middle so if dh and I want to chat it's always around him or he answers for us.
He is always listening to every conversation and chipping in and he doesn't go to bed until we do.
If we go out he comes along and 99% of the time it's absolutely fine, we both know and accept he's only got us and doesn't go out alone.
I just feel frustrated that we have no privacy, no time together to actually be a married couple or a conversation or even a snuggle on the sofa.
He obviously does have his own bedroom but he doesn't go in it unless it's bedtime, he just never has.
He's very oblivious to this of course and just saying go and be in your bedroom would not make sense to him and he'd be very put out.