There is a mitzva (for _you_) to teach your children Torah. There is no mitzvah to send them to the forest with some other wilder chayos.
Kuvult, Rashi suggest best time to teach is from 16 to 22, so after that, they might be ready to go to the streets.
Disclaimer: most of our children are currently in labor camps. (that is, laboring in camps, leaving no time for shtuyot).