I got to thinking about what my Dad did when he needed an alternative mode of transportation but wasn't ready for a wheelchair full time.
He got a scooter that he could maneuver around his house and that he could also get in and out of easily.
I don't remember the model he had but he got it from The Scooter Store and they came out to his house to measure doorways and hall width so he could get the scooter that met all his needs. He had the same one for several years so I assume he was happy with it!
Here is a link to their website
http://the-scooter-store.com/
It looks like you can rent them so at least you can test them out before you purchase. Does insurance or Medicare cover any part of the cost?