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My mom is 73 and disabled. I drive her to all of her Dr appointments and I also do her grocery shopping for her. Can I get mileage reimbursement for this?

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When I took over all of the driving and errands for my mother when she could no longer drive, I didn't have to ask for any type of reimbursement. She offered it right away. In fact, I think she would pay for all of my expenses if I would let her. Talk with your mom. Maybe it's something that she just hasn't thought of and would be more than willing to reimburse for mileage.
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The only reimbursement you can get is from your Mom. Make a caregiver agreement with her. Everyone signs it. She pays you

Unless she has a long term care insurance policy that covers the cost of transportation...there isn't any where else to get payment from
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