19yo ds still lives at home and is employed.
He cooks one meal a week for all of us but eats evening meals cooked for the rest of us the rest of the week, unless the times don't suit him; then he'll run up an omelette or something. Sorts himself out for lunch.
Contributes a percentage of his salary towards general household costs.
We take it in turns to run the washing machine so it's filled up, but he does his full share so no complaints there.
Doesn't expect us to drive him places: if he needs to get somewhere after public transport has stopped running he will either walk or pay for an Uber. He knows offering lifts would be difficult anyway, as I don't drive and dh has a long commute so isn't really around in the week.
Dd lived at home on the same terms for 2 years after leaving school- though we were perhaps a bit more generous with lifts as she is disabled. Most of the time she would get a taxi and pay for it out of her salary though.
She is a bit of a special case now: having missed a lot of secondary education she is now at a HE institution which is not UCAS-affiliated so gets no student loan. Her fees and living costs are paid for partly by her own working (though difficult due to combination of disability, recent severe illness and intense nature of course), partly by money left her by her grandmother and partly by us. She is very grateful for the help and does her best not to overspend.
She also needs more emotional support than ds, but that is due to her peculiar medical situation. She works hard on becoming independent but I think we all accept that she is still playing catch-up from a difficult start.