I cared for my dad in our home for almost 2 years before we moved him out. It was great for him, not so great for us. I can just about guarantee your idea of when you'll need 24 hour care and your daughter's are going to be worlds apart. I had to fight my dad on giving up driving, (lied and told him the Dr. called the DMV, not a family member. To this day, every doc he sees, he accuses of taking his license.) I had to fight Dad on bathing. He was convinced since he didn't really work, he didn't sweat and therefore didn't stink. I didn't trust Dad to heat up a cup of coffee in the microwave after he entered 10 minutes instead of 1 minute and filled the house with smoke from the boiled out coffee. Having an elderly parent live with you is like having a child in your car with the seat belt off; it's a disaster waiting to happen. You may never need the seat belt, but if you ever did, you'll feel terrible. Same with an adult parent who can't live on their own but doesn't need 24 hour care... YET. One slip or fall while you are out for the day, one absent minded mistake on the elder's part, a million other things that can go wrong.
In my opinion, asking to stay with a child is selfish and if they are smart, they'll tell you up front that they are willing to support you in any way possible, but that they need to live their lives, just like you lived yours; in privacy and full freedom without fear of your or their health and well being.
When my father was finally moved out, literally danced a jig at getting our freedom back. Don't do that to your daughter unless you really don't like her that much.