There is a difference between "living with your parents" and "having your parents as roommates"
There was a time period as I was waiting for a rental house to open up, where my wife, infant daughter and I all shared the guest bedroom at my parent's house. That was an interesting experience for 60 days.
If you flew back to the nest, you owe it to your folks to contribute in meal prep, do your own laundry, and clean your own area and help clean common areas. And it might seem odd to talk about "Roommate rules" but you have to establish a new order of business rather than fall back into your high school roles...