Any tips for helping my son leave home?

My son is now 34 he has cerebral palsy and full time wheelchair user. I am now 70 years of age his dad is a bit younger. How do I start to make the change to him living away from us, in some sort of shared housing. We have probably done far too much for him and held back his development. He becomes anxious when I broach the subject of living alone. He has quite a full life. He goes daily to the gym, enjoys football and motor sports, like most disabled he struggles to make friends. People say hi etc. But not real friends, has anyone got any ideas of how to help my son with his future, as we cannot be here forever?