Is there anything other than Medicaid, for round-the-clock home care?

Both my parents,84 and 85, have mild dementia. I live with them. Dad was hospitalized a couple of weeks ago, and the hospital social worker told me to apply for medicaid for both of them. They don't have any assets. I am afraid of Medicaid. A friend's friend said she's had problems with Medicaid caregivers. Also,none of Mom's or Dad's doctors takes Medicaid.
I wonder if anyone has had experience with Medicaid home care? Maybe there are other low cost options? Thank you all.
Lila