I'm helping my parents but I have to work. Is there anything to help me financially if I have to quit one of my jobs?

Would your mom qualify for medicaid? Does she need assisted living or a nursing home. You also need to keep your jobs in order to prepare for your own retirement and to pay for your own health insurance which you would loose otherwise.

The vast majority of grown children who are caregivers to their parents do not get paid... unless the parent can pay from their own retirement fund.

Now, with your Dad having access to the VA, you might want to check to see what is available. https://www.agingcare.com/veterans-assistance

Medicare doesn't pay for a grown child to be a caregiver. In some States, Medicaid [which is different from Medicare] there may be a program to help out, but note the pay will be minimal.