I am not sure what you mean by “loiter”. I guess I like to loiter in the living room.

Not at all. Love their energy.

Not a parent but having the ‘party house’ is a status symbol for some parents here. Many just turn the basement over to the teens, although some are more hands on than you may be thinking.
Since we had a pool table, we were that house in junior high and part of hs before I moved out. Lots of fun! Also growing up everyone came over for ping pong at my grandparents hobby farm.

I had one kid who seemed to be 100% into doing nothing appropriate, and everything inappropriate (which in my world is called loitering). I didn’t put up with it. I told him either he found something appropriate to do, or I’d find something for him.

Loitering doesn’t exist without someone who thinks that person ought to be doing something other than what they’re doing.

No problem at all with my kids relaxing around the house. If they were doing nothing productive 24/7, that would have bothered me.b

But, since you asked, I think “loafing” is the word you are looking for.

@janbb Loafing is a perfect word. Thanks.