How do you describe a girl who leaves home unable to look after herself? "Like most boys her age".

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Like John, I'd choose "princess" as well. I think it describes what you mean quite well and it's used widely in different English speaking countries.

‘Poor little rich girl’ , or just ‘little rich girl’ (‘girl’ when applied to a woman like this implies someone who can’t cope with adult life) are phrases I’ve heard quite a lot, can’t think of a single word that fits exactly. ‘Princess’ as John said sort of fits, but it also implies someone who wants thing her way, and likes to be the centre of attention, not just someone who doesn’t know how to cook etc.

I am not sure there is a very good term for this... it varies so much by situation. Based on your question and context however, I would say DEPENDENT or INCOMPETENT. I'm leaning more towards "incompetent" however, for the simple fact that every person has the ability to do for themselves ... the biggest problem is that they don't want to. So you could also say a "bum" or "free loader" or "scrub" which translates into that person being "lazy" or "incapable" .............. but only by choice. "stuck up" would also be a good term. This implies the person believes themselves to be too good for such mundane tasks.