Will my boyfriend ever commit?

I've been with my boyfriend for 5+ years now, and have known each other for 10. He is 31 and I just turned 26. I've been living on my own for 7 years now, moved out when I was 19. He still lives with his parents. He stays at my apartment nearly every night and maybe pays for some groceries here and there when he feels like it. He will not move out of the house with a friend, or anything else for that matter. I do not get along with his family very well. So sometimes that will spark arguments. We argue about normal issues most couples do I guess. I mainly get upset due to everything that surrounds him still living at home, not paying rent at his house nor mine. So it's a double edge sword because I ask him to move out, and he says he wont because we fight too much. I say the only reason we pretty much fight is because of the fact that he wont move out! He's sweet, funny, and caring yes but this situation is really outweighing all of his good qualities. His parents have a lot of $ and property... a part of me is wondering, is he staying there until something happens to them? He wants me to be this respectful girlfriend to him at all times yet he wont do anything for our relationship to help make it better. Like I said I don't get along with his family and I've put my hand out as a peace offering only to get told by the parents, she needs to send us a letter and we will CONSIDER talking to her. He hasn't helped by any means in making that situation better and he has the power to.... for some reason his parents worship him and do everything for him. Will he ever change?? Am I wasting my time?