I asked my parents when I got home if they wanted me to move out, and they said that while it was ultimately my choice, they'd prefer if I lived with them, at least this semester, in order to save money.
If they asked, I'd move out, but I love living with them for now, not only because I get to save money on housing, but also because I love the depth of the relationship I've developed with them since I've been home.
Long story short, it really depends on what you want for your kids and your situation.