I don't know how old your children are, Charlotta, but mine left home when they were 18 as well, and have only lived at home for short periods since.
However, we are still really close, emotionally, if not geographically, and my elder daughter can't wait for us to move closer to her.
I think that the fewer demands one makes on one's children the better, because they will feel better about meeting the few that are left. The reality is that you only get from your children what they are prepared to give - the only difference is whether they give it willingly or begrudgingly.
Incidentally, I am sorry you lost your mother when you were still young, but in a way, it is unfortunate if a parent is still around when you are old yourself.
Looking after grandchildren can be tiring when you get older, but they usually have parents to assume the major responsibility. Whilst looking after an old person is also tiring, but they never go away, and there is no-one else to take the responsibility.
Also, it struck me the other day that I no longer have a mother - she has long since stopped acting like a mother - now she is more like the child, only, unlike a real child, she will get "younger" not older!
The Republic of Ireland and their tensions with migrants.