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I know it's hard to set boundaries with one's parents, especially as they become old and debilitated, but you need to start working on that, because it will only get worse. Maybe you need the help of a counselor or therapist to help you work through the issues in your own head that keep you from setting boundaries with them (I did).
You need to figure out how much you can realistically do for them, and how much you're actually willing to do, and start managing their expectations of you. Don't make yourself available at a moment's notice. Don't make yourself available two days in a row if all the issues could have been handled on the first day. Don't buy into the idea that every little issue is an emergency. Don't jump to their aid every time the phone rings, and eventually they'll start figuring other ways to accomplish things that don't involve you. Start suggesting other sources of help to them. Bring them the name of someone who will clean their house for a fee, the names of services that transport seniors to appointments or shopping. Introduce them to the idea that it can't always be you, you, and only you.
I'm still working on all these ideas myself (and I've been at it for 6 years). Good luck!!!