I'm 60 so still relatively young but a few years ago we sold our house in California, and used the crazy profits to buy a house outright in another state and fully remodel it with the idea of "future proofing" it for when we get older.
We replaced one of the two bathtubs with a walk in shower and had the wall behind two marked tiles reinforced so we can add a grab bar in the future if necessary. We also put high toilets vs. the lower ones that are standard.
We put extra recessed lighting in all of the ceilings with dimmers but without the dimmers all the rooms are EXTREMELY bright. We also put lighting in all the closets and kitchen cabinets. We have a traditional stove but bought a large toaster oven that also bakes and broils with a timer so that it can never be left on accidentally and will always shut off after no more than an hour. I'm actually using this now because I am doing hormone therapy for prostate cancer and have become VERY forgetful of things so don't want to take a chance of burning the house down.
We had benches installed in various places in the yard and a walking path around the edges of the yard since the grassy area isn't level.
We replaced all the area rugs with large rugs that don't slide or bunch up. We replaced the slippery wood flooring with wood that offers more grip.
All of the basic functions of the house (heat, AC, etc.) are automated with five modes day, evening, bed, sleep and away. Depending on the time of day, heat/AC, lights and our burglar alarm are automatically turned on or off in various parts of the house. For example, in "bed" mode, only the bedroom is heated or cooled and only the bedroom lights are on.
We also plan to keep using Apple Watches. In the future, they will be a lot less expensive than something like Life Alert.
You sound ready for the future. My house is geared toward safety and convenience, too. You mentioned grab bars in the bathroom, I have them and they have been very useful. Good Luck!