I take care of my Mom and Dad taking them to appointments which I'm taking off work. Is there any help I could get?

Get them to Assisted Living so you can go to work. You have to plan for your future, too.

Professional caregivers can take your parents to their appointments although you would have to hire one caregiver per parent. For what you're losing in wages and gas you can hire someone to help you with some of the responsibility.

I am in the same boat with needing to take time off from work to take my parents to various appointments, getting their groceries, etc. and I've been doing it now for 6 years. Pay for gas? Not unless your parents pay you the gas money.

As for groceries, check to see if any of the larger grocery stores in your area has on-line grocery shopping and with pick-up delivery and/or home delivery [there usually is a fee for that service]. That has been a life saver for me.