I read your story and now that I have so many of my own issues, I view things quite differently.
I agree that it is high time that you move out, but I love the idea of living close to your parents, who have supported you for nearly four decades and will continue to be there for you if you need them. I like the idea of baby steps, giving it a year, and I hope that this works out very well for you.
Since this was written about a month ago, I am wondering what transpired.
Best Regards,
Bernard