Never had thar situation. We did thing as a family. They didn't take vacations and leave us at home. If they couldn't afford to take us, they didn't go. But when it came time for us to be grown up they had no problem with the empty nest. They felt that their job was to have us and then raise us to function on our own. Yea, they were there in the background, but they never once used there parental psychological power to sway us in any way.
My wife and I did the same thing. I believe we took one 5 day trip to Myrtle Beach and left them with my parents, but other than that it was one for all and all for one. They both went off to college right after high school and then returned for a brief stay after graduation, but within 6 months they were out on their own. We never forced them one way or the other as far as pushing them out, they left because they wanted to knowing that we would be there if they had a serious problem. They, like myself, never took residence back home after they left.