He is no longer my responsibility and yet I continue to provide for him because he can't do it himeself.
Bold mine.
The fact is that he won't do it for himself. You're doing him a great disservice. If he wants money to hang out, he can earn it daily as a day laborer. Then he can pursue a regular job.
Our son worked almost full time his last two years of high school. Even then he had to wait until age 18 to get his driver's license, because he failed to save $200 for driver's education. He paid his cell phone bill all along, and we gave him a car and paid for his insurance until he graduated high school (from November until May). Now at 24, he is self-suffiient.