56 year old mom very clingy and needy who lives with me, husband and 3 kids. What can I do?

I am a 37 year old woman with a teen, pre-teen and a 20 month old. Mom has been needy all of my life, but was living in her house independently up until about a year and a half ago. I used to take her to doctor's appointments and help her as needed, as I just live down the way. She used to call me with family drama at least once, usually multiple times a day, arguing with her mother and my sister, etc. She has never had boundaries until I had to set them. 3 years ago I had a miscarriage, and her reaction to finding out secondhand was that she was so upset that I didn't tell her, not are you ok, do you need anything, etc, instead it was all about her. Well, about 5-6 months later, I found out I was pregnant with my youngest. It was a high risk pregnancy and I was on modified bed rest part of the time. Mom continued to call me multiple times a day with the drama, despite knowing my pregnancy was stressful. My therapist helped me to set boundaries and I told her several times I could not be involved in the drama or deal with all the stress of her calling several times a day, and cut my contact down to once or twice a week. Mom kept calling crying, and then stirring up drama and trying to put me in the middle to the point that I went no contact. The 16 months of no contact was some of the most happy and peaceful of my life. Well, in the fall of last year, I received a petition by my sister for guardianship over her person and property. No one notified me of anything that was going on. My sister has mooched off of mom off and on for her whole adult life and has borrowed money from both of us that she has never paid back. Apparently after I went no contact, sis had moved in with mom under the guise of helping her and keeping her company. Mom does have insulin dependent diabetes and has been diagnosed with paranoid schizophrenia (which her neurologist and I are now wondering if it is actually early Parkinson's). For years she thought her neighbors were stalking her, etc but had been managed with medication by her doctor and was still able to pay bills, cook, perform ADLs, give herself insulin, etc, pretty much everything for herself. Well, I found out that she had declined to the point that she was not coherent half the time, paranoia and clinginess had gotten worse, etc. I asked to be placed as a co-petitioner and my sis and I agreed we would both handle mom's care. Throughout the course of this process, mom began to tell me that my sister was physically abusive. My sister admitted to hitting her and trying to choke her. The attorneys also discovered that my sister was paying herself, her car payment and had made tens of thousands of cash withdrawals from mom's savings. After my sister admitted to being abusive this last time, I brought mom to my house to live with me since my sister was still at mom's. The court appointed me her guardian, and my sister must move out in a month. Mom has told me she doesn't want to go back home, and has told me this from the beginning. My sister and I were supposed to be working together but I can't have her abusing mom either. So I am really frazzled right now trying to find a solution. Most of mom's savings is gone thanks to my sister, but mom makes a lot too much in retirement ( has job pension as well) to qualify for Medicaid. I want to look for a home health person that could stay with her a few days a week to give me a break. No matter how late I stay up, mom will not go to bed until I do. I have been up at 3 and 4 am with my little one, and mom is right there, sitting on the sofa. She has to be in the living room from the time I get up till the time I go to bed. She has gotten a little better mentally since she's been here and is now doing all of her ADLs on her own. The only things she can't do are cook (can't see that well) and give herself her insulin/take blood sugar. I wouldn't trust her administering her own mess anyway, as she has a history of non-compliance and abusing them (she takes .5 of Ativan twice a day currently but used to be addicted to Xanax and pain pills and would eat them like candy. She also tried to overdose when she was with my sister. Hence, I keep the meds locked up.) Her neurologist took her off of her antipsychotic med for 6 months to try to distinguish if it was the med or if it's Parkinson's or LBD causing Parkinson like symptoms (muscle stiffness, paranoia, movement issues, etc). She has been off of it for almost 2 months now and mentally and physically it seems she is improving some, though she still has the clinginess, anxiety and paranoia, and says she does have trouble brushing her teeth. Doctor put her on Cogentin for muscle stiffness and it too seems to be helping somewhat. I'm just at a loss personally, and can't see the light at the end of the tunnel. I don't get paid or anything. Mom has helped out a little with groceries but that's it. I am not asking for pay, just want my life back.