I do not know if where you live has this, but most states/counties do.
For handicapped,young,elderly, they have like "home helpers"
(maybe different places have different names for this) that will come to your home,light housework, run errands such as shopping,laundry,pet care, etc. for medical related needs they have licensed health care assistance, meals on wheels, many of these things are available according to income, if low income, then you either pay very little or even nothing at all.
It's worth it to check into, I was amazed of all the things available when checking out this stuff for my mom, sadly she won't take advantage of this but takes advantage of me.
Her neighbors in this low-income apt. complex, say the services are terrific and urge my mom to go for it.
There is also public trans. and they have curbside pickup and dropoff for handicapped or just slightly afflicted with joint disease,respiratory,cardiac, just to name a few.
Check with your county, we started through our medical center where a social worker gave us listings and phone numbers for us to obtain info, from the county.
Lots of luck with this.