My Dad has dementia but still drives my Mom is legally blind. I don't think they are going to be able to live independently much longer. My dad is a veteran if that means more benefits may be available. Because they live on Social Security I don't know if they can afford assisted living but I hope that something like that is available to them in the future. I am just starting to explore their options.
And have your Dad contact the Veterans Administration as soon as possible to see what programs are available for him... you wouldn't want him to miss out on anything because he hadn't checked earlier.