"At some point they'll have to enter the mainstream.... That's where they will struggle."
This actually isn't true, about kids struggling. Unschooling kids adapt as well as their natural aptitudes allow - as well as or better than school kids with similar aptitudes. It seems counter-intuitive, but it's a good example of how teaching doesn't guarantee learning. Being "in the system" doesn't necessarily make it easier to handle the system. Sometimes it makes it harder, because kids burn out academically, or get overwhelmed socially, or get so stressed they struggle to function.
Unschooling kids are used to making choices about things that matter to them. It doesn't mean all their choices are good ones, but by the time they're young adults they've had a chance to learn that, to learn that sometimes you fail and move on. Sometimes you get stuck and need help. Sometimes things don't work out the way you want and you regroup. And because they haven't been pressured to succeed, they're better equipped to deal with those possibilities. That's an asset in higher education.
They're also used to persevering when things matter to them. That's something else that can seem really counter-intuitive to people who aren't used to natural learning (which includes almost all unschooling parents, at first!). Schooling presumes that kids need to be taught to persevere - but kids are actually really good at it when something is important to them. Ironically, the kinds of things that motivate kids to persevere are also the things parents tend to wish kids wouldn't do. Kids will struggle with a project until they're crying and swearing and throwing materials and Not Want to Give Up. And parents respond with "stop that nonsense and go play." And then wring our hands at how poorly motivate our students are.
Given the chance, kids are actually great at learning the skills they'll need in life. Even the weirdly artificial kinds of contemporary life we've built for ourselves. Sure, they need help and support, but they don't need lessons on how to be better humans. They're darned good humans from the start .
There are several different issues with the idea that your teens are "lazy". The first is that it takes a good bit of time for kids to re-learn how to self motivate! School - and often homeschool, too - strips that away from kids. "Deschooling" as it's called takes months - for teens, expect nine months to a year, and know that, depending on how big of an impact school had on them, it could even be longer. :( It helps to imagine that your kid has had a serious long term illness and needs time to recover. Let them chill and recuperate. Hang out with them. Watch some shows and play some games together. Gently offer to do fun things together, but don't push. Take time to get to know each other in a different way than before.
Another big thing to know about young teens, though, is that the big developmental processes going on in their brains takes a lot of energy! They may need a lot of down time, time to ponder, time to daydream, they may even sleep more. Around the online home/unschooling community at large, this has been dubbed a "cocoon stage". Not all teens "cocoon" but many do.
But the other thing to keep in mind is that natural learning won't look like school learning. It will look like kids pursuing their own interests - even their non-academic interests. Things like doing hair and playing video games. So it will help you and your kid for you to treat those as "legitimate" interests from which they will, inevitably learn. There's plenty to learn! And it doesn't need to be directed toward any particular goal. School sets you up to think there's this big race toward a finish line, but it's not true. It's really okay to give your kids a chance to breathe and discover who they are and how they learn, naturally.
Something that comes up a lot in the autonomous education /unschooling movement is the way kids learn these kinds of skills without necessarily being taught. And often the ways they learn them are by doing exactly the sorts of things that parents and teachers commonly try to limit. There's a disconnect in adult expectations between the skills that we want kids to learn and the way we want them to learn those skills.
So parents will panic when a kid shows good attention span or focus when those aren't directed at chores or school work (Kohn mentions worthy subjects). Or worry when a kid keeps trying and failing at a game over and over, maybe crying and swearing, but persisting. Or when a child insists on using Just these materials in Just this way to do a project. Or creates a detailed plan and wants to stick to it, despite obstacles. When kids do those things independently - self confidently pursuing their natural curiosity - it's often seen as problematic.