OK, so I am one of the posters who others love to hate. I can cope with that, ho hum. However, I stand by what I have said. Neither statements were intended to be cruel or judgmental.
Just to put my cards on the table, until my fairly recent retirement, I was a senior teacher in a SEMH 11-18 school. I do know a bit about the subject, my students and their carers. I do recognise that most of the posts here are anecdotal, and quite a few irresponsible, IMO.
The OP has given very little information here. She and her DS are both , being the main thrust. Numerous posters have asked what he is good at, what he likes, and if he has thought about working outside. All good questions.
Doing nothing all day will help noone, especially not DS. If he gives up work, it has to be to do something different, maybe of his own design. Life is about taking risks, and everyone suffers some anxiety when they have a change. Most people are tired, or even exhausted, after a day of work and commuting. These effects are not limited to ND people.
From the scarce amount of information here, I would suggest that DS feels a bit of a failure at life. He hasn't achieved any academic success at school, and can't find a job that works for him. He is now struggling with the notion of daily routines. He will be well aware that his parents are struggling too, so will feel guilty. His peer group will be miles ahead.
Might I suggest that any break from work includes a little holiday together, where he can get away from home, do interesting things that he can't really fail at. He will be able to see that there is more to life than the four walls of his room.
At home, he needs to have time out of his room. He should be helping in the house, doing chores, preparing meals for the family, cleaning family areas, on a rota. Every small thing will be something that he achieves - even if it's just making his bed (a good way to start the day on a plus).
Mum needs to stop enabling him. Caring does not mean enabling. Caring means helping him to fulfil his potential.