I would check what services your town has for the elderly/disabled first.

Many churches have volunteer transportation to help congregations members who need help.

I am planning a move soon.....closer to my parents. Pretty pathetic to depend on my 75 year dad for a ride to doctors appointments, but that's my plan for now. My realtor laughed at me because for most people "location, location, location" means near good schools, on a cul de sac, etc. For me, it means a short walk to the grocery store, pharmacy, and my parents' house.