Some lenders will allow non-occupant co-borrowers to be on the loan and on title from the beginning. If you want to be on title, you may as well be on the loan.
Another consideration is staying off title and just recording a 2nd trust deed on the property. Some parents don't want to be exposed to any potential legal risks of being on title with their kids, or vice versa; children don't want surprise liens showing up from litigious parents.
There are considerations to be taken with either of these routes that haven't been addressed on this forum.