I'm in the difficult situation where if I don't opt for assisted death (MAID) or CTB on my own, my disease progression will eventually take my life in an absolutely horrendous way. Both of my parents are aware of the outcome of my illness, and I have brought up MAID or CTB with both of them. It's always a gut-wrenching conversation with them, my wife, and my family, but they understand my perspective.
I don't think that any parent can really be entirely prepared for the demise of their child, but openly and rationally discussing my viewpoints with my parents really helped them understand my line of thinking. Whether I opt for MAID or any form of non-disease progression death, I would want my family to be with me when I take that step. It would give me peace having them all by my side as I transition. I understand that I might be in the minority on this site, with most being unable to CTB with their family or friends by their side.