Have you mentioned the volenteering idea to him?
On one side I say might as well enjoy life if you like it as it is now, and move on when you're ready - but it might creep up on you if you do one day desire work but don't have experience - but I suppose you'd get that from volenteering. If you want to get away from this sort of conflict you'd need a place of your own - unfair as it may be, I know people shouldn't have to be commited to a life of work just because they were born - but while you're alive you're subject to the consequences society is able to threaten you with - in some ways you're fighting it by standing against it, and I'm evading conflict with them by working.
Be aware though that you cost money to keep well fed +housed - but as long as you pay that, you're not imposing on them