I have had paid caregivers all my life do to medical needs. I have never tried to ask them to make the transition from caregiver to mommy or daddy. Just seems too hard to discuss. My caregivers do help me with bathing, dressing, and diapering. But it is their job. It's not a loving act.
My SO will care for me when my caregivers are not around, because my needs stretch 24/7 but she is not comfortable babying me. I guess I'm just glad she will change me at 3 am every night.