We are dealing with the same issues, but not with a multi-story home. My in-laws are roughly the same age, have medical issues ranging from fall risks to severe dementia, yet drs won’t remove drivers licenses. In-laws live in another state, yet still rely heavily on us for many things, so we have made the decision to make the cross-country move to go live with them so they are able to stay in their home as long as physically possible. We will be their caregivers for as long as we are physically able to do so. All of us have discussed this in depth, what it will entail to make this happen, etc. In my opinion, it may be time to start thinking of doing the same, if the home is large enough to accommodate all of you, as it will give plenty of time to spend with your parents as well as taking care of your own family. It is difficult dont get me wrong, so take what necessary steps you need to do to make your life easier as well. I know I will be once we are there.