If they were my adult child, I would probably purchase a home for them to live in so they don't end up homeless. I know two people who have done this for their adult children. One bought a house with 4 bedrooms. Their son lives there and they rent out the 3 other rooms to people who are in a similar situation. The other bought a small condo with one bedroom because their son really can't live peacefully with other people.
I would also try to get a diagnosis that would enable the adult child to apply for SSI.