Our parents (on both sides) saved well and planned well, with various combinations of LTC insurance, advanced directives, and early entry into retirement communities. That didn't spare them illness, pain, fear, and dependence towards the end, which, fortunately for all of them, was not all that long. Nor did it spare us the challenges of providing and overseeing their care, or--in one case--the anguish of enforcing an advanced directive when we felt that its terms had been met, and it was time to honor the parent's long-ago-stated wishes. But they were a good model for us, and, with our care of them, we hope that we provided a good model for our children.
We are preparing with LTC insurance, advanced directives, savings, and good communication with our lawyer, doctors, children, and each other about our wishes. We know that not everyone is granted a swift and clear-headed demise and we try to be realistic and forward-thinking.