Sharing your home

Thought: Sharing your home with adult or almost adult children
What a hard thing to do, especially when they are transforming from teen to adult. We continue to make sure they eat, get to work, college, Dr./Dentist and so on. They, on the other hand tend to resent parent interference of their "own" life except (of course) when they need something specific like money.
Problem: Blending the two extremes ~ independence and dependent.
Question: How do we blend the two so the we can continue to LOVE our children but create a livable atmosphere in the home???
What has worked for you?? Please Post.