Harvey is 18yo and he has some capacity so he will be making decisions for himself, as he should - he is a human being after all. I find it the thin end of the wedge when people start criticising parents carers. She was quite young when she had him (she is the same age as me but my daughter is older) and I can categorically tell you I struggled as well, I don't know anyone who has a child with a severe and complex learning disability that hasn't struggled. Emotionally, physically and financially. Money helps but the vast majority of parent carers would either be living in poverty or forced into it by the care they have to give.
There does seem to be an expectation in society, certainly in the UK, where we should be seen to get on with it and be some sort of saintly figure and never complain or moan or say something socially unacceptable like we cannot cope. I didn't see anything in that documentary that was alarming on a Mother/Son basis, in fact I thought she directed him really well when he was clearly overwhelmed at times, something that cannot be at all easy. I thought it was telling the other Mum, Mathew's Mum I think, said don't be told by professionals what is best, you are your son's expert and it is true, we are our adult children's experts. We don't need a medal but we certainly don't need judgement off others.
My daughter moved out of our family home when she was 18yo too - even parents of other young people with learning disabilities have passed comment to me but I couldn't cope any longer and a care placement became available that was more than suitable and my daughter wanted to go. Her children's social worker actually said to me after she had moved into her new home - where she has been very happy - he didn't know how I'd coped with her for so long at home, yet some of my own friends found it unpalatable. I'm afraid I am past people judging me but please bear in mind how difficult it is for parents and how the reality is not the same as the imaginary kind of carer you think you would be in a hypothetical situation.
I do think society to looks to those who show their 'best self' rather than thinking a bit deeper about how coping with such a difficult situation is. It is quite easy to criticise from the outside and I think his Mum has received plenty of criticism. As an aside, I didn't receive a single comment when my perfectly average 18yo moved out of the family home! not one!