From my experience, feeling constantly judged by my parents is damaging (speaking for myself and my siblings) and leads to avoidant behaviors. This holds true whether I am working or not, whether I live with them or am on my own.

Maybe you can have a conversation with them to reset expectations? Part of this process should communicate to them what your expectations are and then, if they meet those expectations you should try not to judge their lifestyles.

Would you care if they slept until noon if they were otherwise productive?

The fact that there are nebulous unspoken "rules" is a likely source of tension.

Apologies for the judgment in my last comment, clearly I do not know your family and am just projecting my own familial dysfunction. To put it bluntly, your comment hit a nerve but my response was uncalled for.

I suspect they get the idea.

They are adults now. They can tell.