Medicare and Tricare are NOT set up to pay for private family caregivers at home. Some states have Medicaid programs with waiver that will pay some (not 24/7) care at home by family members. Some veterans or surviving spouses qualify for Aid & Attendance which can pay family members in certain circumstances. Of course, your parent can always privately pay you but that didn't sound like what you were asking.
https://www.agingcare.com/paying-for-care