If a parent is in Assisted Living due to mobile issues and has no memory issues, it might be allowed as long as the vehicle is set up to help compensate for the mobile issues. Such as can the parent put his/her own walker.scooter into the vehicle, etc.
It also depends on what is allowed at the Assisted Living, there might be a ruling that the residents are not allowed to drive a vehicle. You would need to check.
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It also depends on what is allowed at the Assisted Living, there might be a ruling that the residents are not allowed to drive a vehicle. You would need to check.