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.
Forgetting where you left your keys dies not mean you are “losing it”
The Republic of Ireland and their tensions with migrants.