Nope. I think if I have kids I'm going to set a limit on how long they can stay with me. There comes a point where continuing to live at home becomes detrimental to the process of becoming a fully-fledged adult, and becoming that is a necessary part of living a happy life. Generally speaking, having a job, independent living, other adult things, need to happen sooner rather than later (at least in the USA--I know cultures vary in this regard), or else your kids will be far behind the curve of their peers in many, many respects... and hate themselves and probably you (the parent AKA the enabler) as well for it.
Despite my ADHD diagnosis--which I still do not fully believe in--I credit my lack of social skills with the inability to fly the nest and become a fully-functioning adult within a reasonable timeframe; I'm simply behind the curve and don't know how to act around A) my age group (30s), who have been working for a decade now, and B) around the working adult demographic generally, which is apparently a political game and social system in and of itself.
To answer your question on friends... I am currently looking for MYSELF (and I believe that will come as I learn how to really be an adult). When I find out who that is, I believe true friendship will come much more easily.