When to put to sleep? Multiple issues.

My doggo, Zelda, will be 16 in November. She's a rottie/lab at about 78 lbs now. Pretty good health. Her hips are getting weaker. I do give her adequan canine injections to help.

She's recently become incontinent in her sleep, and now she's leaking even while awake. I've got a great waterproof fleece blanket, which helps a lot.

She's the first dog I've ever let sleep in my bed. I got her at 8 weeks old. I've bought a ramp so she can get on the bed as well. She's very well cared for, very spoiled & super loved.

Last night & this wasn't the first time I woke up to poop in my bed. When should I let her go? She's got some cognitive issues, too. She's anxious when i'm out. I love her to death.

Any advice out there?