My Power of Attorney and Medical Guardianship papers are in place for my daughter to use when she needs to take over from me. In the meanwhile she is my dutiful daughter, helping me, and at the same time I am helping her. She doesn't scold but she offers advice based on her experiences as a nurse.
I am grateful to have her with me and am in awe of her capacity to deal with bureaucracy. I, on the other hand, am helping her out with finances and performing time consuming tasks of washing clothes, shopping and cooking. She takes care of the outside chores.
Neither of us judges the other.