Welcome to the forum!
From what you say, it sounds like there are no real downsides to moving in with your parents.
FIRECalc can tell you whether it makes sense to take the $160k now, the $25k at 55, or the $40k at 62. You'd run the second two options by putting the pension in under "Other income/spending" and of course taking the $160k out of your portfolio. Make sure the "Inflation adj" check box is un-checked if the pension won't be COLA'ed.
If you haven't already read this post
Some Important Questions to Answer Before Asking - Can I Retire? , I recommend it. The FIRECalc homepage also tells you you need to include your best estimate of future taxes (all kinds) in your expenses.
You can still get an ACA premium subsidy (tax credit) in 2026 if your MAGI will be less than 400% of the 2025 Federal poverty level. The finance buff has some great posts:
Compare your income with the Federal Poverty Level (FPL) to calculate the premium subsidy tax credit for health insuance under the Affordable Care Act.
thefinancebuff.com
If you get health insurance from ACA, the government sets the percentages of income you are expected to contribute toward a benchmark policy.
thefinancebuff.com
Regardless whether you will qualify for subsidies, if you will not receive retiree health insurance and will depend on the ACA until Medicare, you should take a look on your state's ACA exchange website (or Healthcare.gov if your state doesn't have an exchange) to see what plans would be available to you at what cost. Be aware that the premiums increase with age. Might be a good idea to view premiums for older ages to get a feel for how big an effect this is.