I would have said, "Nope, not senior-proofing! We're moving into a retirement home in a year or three, there's no point."

Then I saw your examples. Oh.

Yes to the handicapped toilets. Our original (1990) toilets used too much water and clogged easily, so when we replaced them all, we went with handicapped height in Deb's bathroom (because she appreciates the height, at age 70) and mine (because, ah, resale value... yeah, resale value, that's it...).

We added two sets of grab rails in the MBR shower, plus a bath mat, after I got too enthusiastic with body wash and turned the shower floor into a frictionless surface (no harm other than doubling my heart rate momentarily).

We have a ramp inside our garage, a temporary fix to help with Deb's mother when she was staying here in a wheelchair after surgery. Oh, Mom died in 2016, but the temporary ramp is still here, because... it's nice, okay!

We had a railing installed on the front steps when we moved here in 2000 to help "visiting mothers and elderly guests." My mother died in 2018, and our elderly guests are our age or younger now, but hey, perfectly good railing! (Okay, needs painting, whatever.)