Like anno, by the time mine were off to university, my career was taking off, so I was busy, busy, busy. When DD was doing an extra "A" Level I was doing an MA - lots in common. She was at home then, for a year, but DH was serving in Belize. Different empty nesting, maybe?
I loved it when they came home, because our holidays all coincided, and we all enjoyed our times together.
Yes, I missed them, and they missed us, but the bit of a cliche of "roots and wings" is very apt. And yes, an unoccupied bathroom is very, very pleasant.