"Doctors are of little to no help" I had to laugh when I read that. The only med that works is sinemet and when you take enough of that to help, your mind goes. All other meds can make psychosis worse. My wife has had caretakers for eight or so years now. It bankrupted her and now I'm paying. There is no financial support from the feds. But we can - I won't go political here.
When my wife has been hospitalized, the night time staff can be clueless or even mean. You did not say how many years your father has had PD or his meds. If it's only for a few years, the symptoms you are describing come in years after dx. Constipation is a problem with PD not Incontinence. Unless you believe covid is the cause of his decline, I would be sure your father has PD.