Anyone out there have any advice for me on a better place for my MIL?

I am a full time working mother of four. We took in my husband's mother almost 5 years ago when her two daughters had moved out of their hometown and left her by herself. It has changed the dynamic of our home in negative ways, been a strain on my marriage, and a strain on our time with our children. Her health is declining to the point where we have to prepare all her meals for her and I foresee bath rooming and bathing coming next. We are not prepared for that and I can't afford to quit my job to do full time care for her. We've tried to keep her as independent as possible and let her manage her own meds, which there are a lot of. Her current health issues are: auto-immune disorder, low immunity, steroid induced blindness, chronic UTI infections, chronic dehydration, kidney issues, brittle bones from 15 plus years of steroid use, memory issues, nerve issues, hip replacement. She's 71.
My husband feels stuck. He doesn't want to kick her out. Her two daughters will not communicate with us on other options for her. Over the last five years, they have taken her for 3 - 4 months a few times to give us a break. I guess I should be grateful for that. It's just that we had to put her in the master bedroom because it was the only room downstairs in our house. We moved upstairs with the kids. I share a bathroom with my daughter and my husband shares with our three boys. I feel like I've been camping out for a long time. When she's gone, we keep her room shut up per her request. Everything we do seems to revolve around her care and her needs. I've had all I can take but I feel like I'm the only one trying to find another solution. That also makes me an easy fall guy for her children that won't make any decisions. Her daughters do not have a realistic picture of her physical challenges and see the solution being that she lives by herself again. I don't want the woman to suffer and die because I don't want her here, but I don't want her here anymore. I only have 5 more years before all my kids are grown. I want my family back, I want my house back, and I do not want to be a bedside nurse.
She owns a home that she rents but it needs repairs to sell. She's in an interest only loan because of a bankruptcy years ago and has no equity. Her rent income is very small and gets turned over to repairmen and lawn care people. She draws social security and a TINY retirement pension. If I try to get her on Medicaid and start moving toward an alternative care solution for her I will become this evil witch that wants to put mom in a home. I'm at my wits end and my husband, god love him, is not emotionally equipped to deal with this. Which leaves me stuck.
I know she's lonely. She has no friends here. Her daughters rarely come to visit. She watches TV ALL DAY and barely moves. She's a smoker (vaper) and was doing it in my home until I put my foot down last July and said no more. Now she goes outside about 5 times a day to do it. She can do that but she can't fix her own meals. We have four teenagers who do a tremendous job of helping us with her.
She's never really fit in here. She jumps in the middle of our parenting issues with the kids. Freely gives her advice on how to run our household. She does this mostly sitting in her chair in her room yelling across the house. She tells the kids things that are dysfunctional to our family peace and undermines our authority. The kids don't understand what's happening and are put in the middle of a terrible situation. She's illogical and ruled by whatever her emotions are at the time.
I appreciate anyone that has held on this long to read my rant. I'm at my wits end with this. I feel so powerless to do anything to change my situation at home. I love my husband and my kids dearly. I want them back without this...whatever this life is right now.