Need help, trying to avoid going to an ALF

I am a strong risk for falling and I end up going to the ER several times a year to get stitched up because of the falls. I also have falls that don't require a visit to the hospital but leave me in pain for a few days.I have a cane, a rollator and a wheelchair, but all but the cane are impractical in the home. The cane is only minimally useful since it only guides my fall into a different direction. I need help with mobility and with daily chores (cleaning) bathing and grooming. As it is now, I manage to shower once a week, if I'm having a good week, because I've had too many falls in the shower. I cannot sit in the shower because if I do, I cannot stand back up without help. I have a whole list of medical issues but none life threatening. I have peripheral neuropathy in my legs, multiple DVTs in my left leg, back problems, seizure disorder, severe depression (although I appear to be a happy person on the outside), anxiety disorder (panic attacks included), PTSD and I'm sure I've forgotten to list something....Oh yeah, memory issues. Because of my circulatory issues, I rarely wear clothes in the house. Obviously I have to get dressed to go to the store and such, but otherwise the binding nature of my clothes causes more medical problems than I care to add. I don't want to go to an ALF, but if I have to I will. I have Medicare and Medicaid, so must be able to accept that as payment. I can easily get my Dr. to order it for me. I need full time care since I don't sleep much and when I do it is not at any set time.