Make sure they have a will and whatever end of life medical forms are appropriate for their jurisdiction. This will greatly simplify handling legal matters unless there’s a single child to do it all. Remember that (in the us anyway) powers of attorneys end in death so do everything that is necessary “in time”. Even mundane things like collecting the contents of safety deposit boxes. Finally, if you’re not somebody interested in accounting, make sure you have somebody lined up who can wrap up an estate.
As others have said, work to balance your desire for their safety with their desire for independence and resisting change. Where they live, driving, all of these things might be a struggle. Perhaps start with changes while they’re accepting, things like grocery delivery, transport help, etc. and empathy, don’t forget the empathy.
Finally, remember that work will always be there. Family and friends, however, will not.