Having a job and moving out are part of growing up, it's part of growing up for everyone. It's up to the individual if they want to get a job, it's their life. Nobody should feel imprisioned, that's absolutely no way to live. They should be free to make their own choices, their own mistakes. They shouldn't be told, at the age of 21 what they can and cannot do.
Anyone in that situation should speak to their family about it. They shouldn't either have to put up with it, or have no contact with them. There should be a middle ground somewhere.
Why wouldn't they see their family again if they moved out? Why would all contact have to be lost?