I think moving is a good idea and as EllenVannin suggests maybe a housing association flat or similar, or even warden assisted in light of possible further health problems?
I also think that your children's inheritance is just that ...and whilst you are here it is YOUR money to do with as you see fit. You say there is needling between your children which presumably means they are arguing about helping you and this is upsetting you? All the more reason to sort yourself out in a way that suits you, solves your worries and means they don't have to discuss/argue because you are sorted for yourself.
Good luck 
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