This is such a personal decision AlPam people can only advise or tell you of their own experiences. I wondered about the kitchen as well, that is the one place where things may become fraught if its a shared space.
I agree with BlueBelle I wouldn't want my children to feel they had to act as carers if I became incapacitated. Your family of course may feel prepared for this.
Grannyben's sad story is a salutary one, none of us know what is around the corner.
I would be more inclined to downsize closer to my family than share.
Is it me or am I getting mixed messages