Had a co-worker who senior-proofed his elderly parents' house. Put in a chair lift, grab bars, etc. One thing that really helped were smart cameras: He and his sister were able to monitor their parents from anywhere. He put one camera in the kitchen so he could see the pill container, one upstairs, etc. Then set up alerts for when certain things appeared to move like the oven, front door, chair lift, etc. They knew the cameras where there, but got used to it and ignored them (that may be an issue here, I don't know).
Both siblings were close enough to react to the alerts if they needed to, but the cameras allowed them to see if they needed to go in person, or just call or just wait until the next time they visited.
It helps to put things at waist height minimize reaching easier (essentially apply heuristics from Human Factors Engineering like we do in factories). For example, in her 80s my grandma started keeping a small trash bag on the countertop at waist level so that she doesn’t need to bend as much or walk all the way to the larger kitchen trash while cooking or doing dishes.
Another focus area is weight reduction. For example, buy pints of milk or bottles of water instead of gallons (or transfer from large containers into smaller, reusable ones to help your elders and the environment at the same time).
Recently, my cousin got my grandma an Alexa speaker. He also put a large text note up on the wall next to it with phrases my grandma can use. Stuff like “Alexa, what time is it” or “Alexa, play classical music”. I thought it was silly, but then I realized it’s actually pretty cool. Plus, Alexa games give the great grandkids something fun to do in grandma’s sitting room.
Once people stop driving, grocery delivery can make a big difference.
Think about flooring. My grandma seems to have an easier time on wooden floors than carpet. It’s easier to slide a walker. Of course, if the floor has too much slide that can become a problem.
If you can afford it, a walk in bathtub is a game changer. My grandma is 98 and has used one for 15+ years. Late in life, even a 6-inch step up to a sidewalk curb can be a challenge.
Edit: I bet there’s a YC startup hidden in your question, especially with people investing more in their homes again now that they live and work at home.
Be very weary about this and investigate carefully, IDK the financials of OPs family but they can become a costly burden to maintain and fix if issues arise. Especially if they are on a fixed income.
It's indeed something to be wary* of, but that's true of any suggestion. There are pros and cons to every approach, and they should be considered within the context of the specific circumstances.