Jean, Im not entirely sure I understand the logic of why he would be at home more, if you hadnt done such a good job? Some people leave home quite young, but still have wonderful relationships with their parents. 

I guess its good to acknowledge that you and your husband miss him- Im sure thats normal and probably quite common- but you have the benefit to be so proud of him and his life and his choices- maybe it would help if you were to celebrate that achievement?

Perhaps you and your husband could go out to a special dinner, or on a trip and focus on it together- say- wow, we really did a great job together, we couldnt have done better and he is testament to that.

Its now time to acknowledge that other people reap the benefits for all the hard work, choices and sacrifices you both made when he was a child, and that is your gift- to yourselves, to him and to others.