I would discuss this with the IRS by phone or with an accountant. An elder law attorney could also discuss this with you in terms of a paid care contract, and how to do forms for same.
I cannot imagine why you could not do this with a good care contract. You would be required to file the needed forms, as would your daughter.
https://www.agingcare.com/questions/can-a-family-member-be-a-paid-caregiver-and-earn-social-security-credits-481268.htm
https://www.agingcare.com/articles/hiring-in-home-caregiver-affects-taxes-171023.htm
https://www.ssa.gov/pubs/EN-05-10072.pdf
You may want to hire a payroll service to handle the tax withholding and reporting.
I cannot imagine why you could not do this with a good care contract. You would be required to file the needed forms, as would your daughter.