For a parent that isn't willing. I'm having trouble handling my mother with dementia. I talked to an attorney today that said I need to consider guardianship since I don't have medical POA. She's already trying to leave. I'm going to have trouble stopping her if I don't do something. There is no one else to take care of her and she thinks she can just go off on her own.
I would say, get moving as soon as possible as the process may stretch out longer than you like. Good luck and best wishes for your future.