Golly, I hope my kids don't think of me that way! Probably inevitable, though?...but I hope they don't begrudge me a little space...but more than likely, I will wear clothes. π
You have to remember with parents...they still think of themselves as the parent...you are the kid. If you remember the pecking order, it becomes simpler. π
They still want choices, they do NOT want to be bossed/pushed around, do require an occasional sincere smile, a choice about surroundings...they might not be demanding so much as bluntly telling what they need! The way they were raised and where and how, matters to their present. What they expect can be modified with some straightforward, loving conversation...hopefully. If you expect help with his laundry, set him up basket, etc.and explain what you need him to do, be willing to make concessions...give him his choices of his comforts. And don't treat him like an inconvenient visitor. I was raised that I would rather burst into flames next to a Red Sox fan, than be thought inhospitable...even to unpleasant family. I wish you well. π