It’s definitely a challenge when it comes to aging parents. It definitely requires a lot of patience as they can get moody and frustrated as they have a harder time doing tasks.
What they tend to want the most is a presence they can vent to as things get harder for them. It doesn’t necessarily mean they want help doing but more in just a presence to vent to. They tend to not like it if someone takes over. They are already dealing with change they are unhappy about so it’s important not to enter their little world with change of any kind.
Often a complaint is not asking for you to do it. The best way to handle that is tell them if they do need help then let you know. This leaves them having the sense of power.