Adjacent to this, I recommend reading (and perhaps even sharing with your parents) “Being Mortal” by Atul Gawande. It is a masterpiece on the reality of aging and what is important in managing the process towards a good life and ultimately death.

As someone dealing with a long term, chronic, progressive and currently incurable condition I can say that for me it really helped to find a better focus and conversation around what is important and how to communicate needs and desires towards good outcomes.