My father is scheduled for total hip replacement and the doctor wants him to do 2 weeks of in home PT and then go to outpatient PT 2-3 times per week. The problem is that my father is the caregiver for my mom who has Alzheimer's and is very anxious when she is away from him. So in addition to having to find transportation to and from PT which is about 30 minutes away, he will have to find someone to take care of my mom while he is away.
This past November she hurt her knee, and the orthopedist prescribed PT. I quickly asked if that could be in-home PT (so I wouldn't have to be responsible for taking her to a rehab place for it), and he said of course. So just how difficult is it to get home PT? Medicare covered it.
As for transportation, one would need to call a taxi, or check with your local county Agency for Aging to see if the County offers a mini-bus door to door service.
Your parents will need to start thinking into the future. Example, now might be the time for them to move into Independent Living/Assisted Living. My Dad lived in one and really enjoyed being there, the place was like living in a hotel. That would solve and future care issues and most places have transportation.
My parents, who were in their 90's, refused to move from their large home. And that in itself became a logistical nightmare for me.