Quick response to your inquiry would be to look at towing a TT with a van.
A full sized van with either a ramp or a wheelchair lift would keep her with you, up front the whole time your rolling,
A TT based Toyhauler with the open ramp, and the ability to build out whatever you need in the garage just seems to make sense. Be it a bed lift onto a bed, or something to help with bathing, you would have a stronger frame and room to work.
If you want me to look for floorplans with a rear entry and even a rear/mid bath, I would be glad to search. I have the time if I can help.