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Reading the OP's price point carefully, I'm going to suggest something like a CPO Nissan Maxima, although it may be too low of a rider for elderly people to get in and out of.
What I would not recommend is a German vehicle for this purpose. To get one in the 20k range, you'll be faced with not only taking aging parents to doctors, but renting a vehicle for aforementioned visits when the elderly German vehicle is in the shop for one thing or another.
Sorry, but owning an older Mercedes and a very newish BMW for six short years have proven to me that their long term reliability is non-existent. I love German sports sedans, but only when I can afford to buy them new and trade them 1000 miles before they go out of warranty.
One money-pit in the garage (the black hole for dead presidents aka Boxster) is enough for me.
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