It is awful, you have my sympathies, and you are right, the system isn't geared up for the (comparatively) younger adults in need. We moved my wife's parents in with us in 2014, so we could help care for my late mother in law (after my father in law had cancer), and she sadly died last year, so I do know what it's like.
However, this isn't a new problem, successive governments of all colours, and successive local councils of all colours have let people down. I would rather sacrifice my inheritance to help my loved ones get the care they need than the current, underfunded lottery.
If your parents need assistance in the short term, it may be worth picking up with local charities, although it can be hard if the distance is large to get it sorted.
I hope you get it all sorted soon.