Quote from this excellent overview from AssistedLiving.com: "While it may be intimidating to consider aging in your own home if it wasn’t designed for long-term care, there are many options, both temporary as well as permanent, that can help you stay in your home well past retirement."
Link: 5 Must-Have Home Modifications For Seniors Aging In Place (Source: AssistedLiving.org)
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Please read the full article for a more in-depth explanation.