My mother is 88 and lives in her own apartment, in a senior complex. She has a woman to help with the housework twice a month, and I drive her everywhere. She is slowing down, but still completely independent. She is planning on moving to an assisted living situation when she can't care for herself any longer. I think she feels that way she won't be a 'burden'. We do have stairs and a small house that's not really suitable. However, there is a lovely assisted living facility just blocks from us.
I too feel so blessed that my mom is still here. It's great to have those discussions ahead of time, isn't it?