How do you balance helping aging parents without stepping on their independence?

My family has been dealing with this a lot lately with my parents over in Irving. Some days they are completely fine handling everything on their own, but then other days, little things happen that make me worry they need more support than they're letting on. It is incredibly tough finding that middle ground between respecting their autonomy and stepping in to keep them safe. I keep seeing senior home care mentioned, but I honestly have no idea how families gauge when it’s actually the right time to bring someone in, or what level of care even makes sense as a starting point. I'm really curious how others have approached these conversations without making their parents defensive or feel like they're losing control over their own lives.