My father had loads wrong with him - cancer, heart problems, breathing difficulties, mobility issues and more. He was adamant that he wanted to die at home and pleaded with us not to call an ambulance if he collapsed (as he had done). He was lucky, because had neighbours who kept an eye on him and a community nurse, who popped in regularly. We all lived miles away, so did what we could, but we couldn't look after him every day. In the end, he collapsed and died at home, which was what he had wanted. He was relatively independent until the end, but his heart just gave up.
My mother is now very ill, but doesn't want to go into a care home either. There are no signs of dementia, so fingers crossed she can also stay at home, although my sisters and I will have to cobble something together - probably a combination of us and a paid carer/nurse.