I feel you. My father just passed at 86 last year. I told my family the only way he was leaving that house was feet first, and he proved me right. As others have said, get your parents' financials in order. You don't mention where you live. In the US, offering to do your parents' taxes for them is an easy way to get a handle on all their finances without hinting your concern about how long they have.
Here's the challenge we are facing, all of us, these days. Modern medicine has extended life, but has not extended quality of life. Our parents really did not have to deal with their own parents spending decades in decline. In particular, they did not have to deal with their parents' cognitive decline. If they had, they might have a very different perspective on the burdens and worries they impose upon their children.
My mom and dad kept each other company. Yes, they were frail, and my mom's cognitive decline has been progressing slowly over the last decade. But they had each other, and could watch out for each other, and call for help when needed. Your biggest concern, at this point, is your parents driving, if they've gotten to the point where driving is dangerous.
It's a much bigger deal when one of your parents passes. The other one is then alone, with no one to call out if something happens. About a year after my dad passed, my mom was able to acknowledge that living alone was no longer viable. My brother took her on a tour of several independent living facilities near his home. They found one where the residents seemed happy and friendly. Included in her lease is a spacious one bedroom apartment, three meals a day in a group dining room, scheduled shuttle service to church, stores, and the occasional outing. She gets a little wrist buzzer she can press that alerts the central office if she has a problem. This makes me feel a lot better than services where, essentially, EMTs will have to break down her door to get to her. And she has company. The cost of her lease is covered by a combination of social security and income from the rent from her house.
This facility also has an assisted living wing. When the time comes, we are hoping they still have room in that side of the facility.
I will tell you one of the challenges, which perhaps your father is aware of, on some level. My mom has been in her new facility less than half a year. Already, she cannot remember what the house she spent 50 years in looks like. She confuses the place she raised a family with the place she grew up. Losing anchors like this can be quite disheartening.