Looking for support options

I just moved out of my parents house about 20-30 minutes away (70f/79m) and I'm running myself thin trying to take care of everything for them, getting stuff done at my new place and work. Not to mention the stress on my father trying to pick up the slack.

They're both going through complicated long-term medical issues and I really want to get them help around the house to give my father a break to focus on his health.

They live in NY/Suffolk county. My mom has Emphysema/COPD and has trouble walking from one part of the house to another, and my father has stage 4 cancer (but fairly active/mobile) but he's going deaf and can't afford hearing aids.

They're not poor on paper, but their living/medical expenses are high, and between assets and their income combined, they usually have just a bit too much to qualify for most assistance programs. They can't afford an aid or even just a maid, so I'm trying to see what lost cost and subsidized options there are for them.