No. Not yet.
Between the two of us, my husband and I have four parental units. His mother is quite well off and quite frugal. We aren't worried about her. She was pretty nervous after my FIL died and my husband helped her sort out the investments and planning and all that. She goes to him over his brothers because he's the only one who has the patience to actually make sure she understands the trade offs and helps her to make the decisions she's most comfortable with. They aren't the decisions we would make, but that's okay. She feels better with a more conservative portfolio, and is living comfortably with a 2% withdrawal rate.
My three sets of parents are a mixed bag. My dad is probably in the worst financial shape (maybe, it's an evolving thing) and talks about still working 2-3 days a week in retirement. Not for funsies, but because he has to. This stresses me out a lot, because he won't let us contribute. And not even in a big systemic way, but in a little "we're visiting, can we pay for one of the meals out" kind of way. I try to cook when we visit now, because it's a way to help out. But I love him, our relationship is rock solid, and the biggest worry is that he won't tell us if he needs something.
My step-dad is doing pretty great. I think the divorce from my mum was rough, and may have impacted his finances, but he's careful and frugal and in a decent position. He probably also wouldn't tell us if he was having problems, but at least I have a step-sister (x2? Ish?) on that side for him and his new wife. (Bio kid of step dad, me, and new step mum's daughter). So between the three of us, I'm sure everything's going to be good. If it turned out he needed support, I would be happy to help. We're really aligned philosophically.
Mum is. Hm. We weren't worried about her while she was with my step-dad. But it's a good example that situations change, because she had a mental health crisis, blew up her life, and now is with a new guy. She thinks she's an entrepreneur, but she's really an academic. Her business is a money sink with no customers and she just keeps throwing cash she doesn't have at the problem. She's still struggling with her mental health but this crisis is quieter, so although she's likely to get fired (really really hard for an academic to do) it's also harder to help. Especially from a distance. And although it might sound callous, I can't help her emotionally. It's bad for my mental health. We recently got over a period of about 6 weeks of not talking because of huge boundary overstepping behaviour on her side. When she knew I was struggling with post-partum depression. Yeah. It's not good.
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So we haven't really talked to any of the parents about financial plans, but my husband and I have a game plan for ourselves. We know what our budget is, we know about how much basic support (housing and food) would cost, and we've built it into our safe withdrawal plan. I don't want to retire without the ability to help. Which doesn't necessarily mean we will end up extending the offer. Right now with Mum, I don't think it would be a healthy way for us to be tied together. If our relationship gets stronger (so far I'm cautiously optimistic, but still, mental health challenges are a doozy to deal with) and her financial situation gets worse (most definitely) we might.
I'm definitely of the mind that we need to put ourselves in order first. I won't risk our financial future, especially with my son in the picture now. But it's something we're planning to put ourselves in the position to be able to do, and if we don't end up doing so, it'll be another piece of our own safety margin.