Have feelings of resentments towards Mom. Any advice?

My mother is 90 ,she had me late in life at 43. I am now 46 years old. My mother became ill with arthritis and many surgery since i was 23 years old. She was a single parent and i am the only child. I now have been taking care of her for 23 years, she is a loving mom but is extremely hard to deal with, very critical to others esp me. I have often felt overwhelmed with working and having a husband and three children and taking care of my mom. My mom gets very jealous of my time with my family. I don't think she feels i have spent enough time with her over the years. The time we have together, we are going to many doctors appointments, gettings her medications, grocery shopping etc. Since i am her only family, this all has to be done. Lately she has worsened and i think it may be close to the end, she broke her rib after a fall, i have tried to get her to go to a personal care home almost next door to us but she refuses. She says she is staying in her home until she dies. I do understand that but her home if over an hour round trip for me and with work and family etc, i am worn down. I get so upset and feel sorry for myself, i however don't let her see that but then i feel bad for having those feelings. it is so hard. Any suggestions.