Sleeping next to an elderly parent

Bismillahir Rahmanir Raheem ,

AssalaamuAlaykum wa Rahmatullahi Wa Barakaatuh Mufti,

1) I came across a Hadith about separating beds at age of 7 or 10 , just would like to know if a grown man is allowed to sleep in the same bed with his elderly father( 60 +)?
2) Would the answer differ if a parent relative is not very well ?
3 ) also can we lie down next to our dad etc. (not sleeping) or hug mahrams , what if satar like above the knees , thighs , below navel etc. touches ?