I have along with many others Im sure have just been through this situation. My dad also has Parkinsons so he needed help.
My mum had been diagnosed with Cancer, she was 85 fit/swimming/walking.
She became ill and of course was terminal.Once she stopped going out and became worse, I had! to go and visit/help/shop etc.Eventualy carers came in.
I never stopped going, I took all precautions that I possibly could.
There was no way I was not going to see my mum.
I spent two weeks staying at their flat sleeping there etc, the district nurses in and out.
My mum passed 5 weeks ago, I would not have changed a thing.Yes I took the risk because of where I work.
My mum died with the cancer not anything else (not Covid) She didn't want to go in the Hospice .
You have to do what you think is right for you, not what other people think.Just go with your instinct and keep safe taking precautions. Thats all we can do.