As for being out and about and doing things, frankly, there's nothing you can do. If she wants to volunteer at the church, she's going to do that...and there is also a growing body of evidence that shows engaging in social activity increases the quality and length of life for seniors...so maybe volunteering isn't such a bad thing.
As for the drugs- is it possible that she forgets, or gets confused with her medications? You can ask the pharmacist to bubble-pack them, so all the meds she needs to take on Monday at breakfast are in one bubble, and all the meds she needs Monday at lunch are in a second bubble, etc. If she is just NOT TAKING the meds until it suits her, there is nothing you can do, short of getting her constant supervision and forcing her to take her meds. I also know that for some, cost is a major concern- so they spread out the meds they take, to make them last longer. Maybe check into her pharmaceutical coverage, see if that could be a reason.
As for the driving, if you can, meet with her doctor (without her there). Explain your concerns. If the doctor agrees that she needs an assessment, then bring her in...there is a chance that the doctor can make a case for her driver's license to be revoked. If not having a license won't stop her from driving, take the battery out of her car, and replace it with a note explaining WHY the battery was removed from her car (so that if someone tries to replace it for her, they'll be up to speed). But, then you say she "hardly drives", so I'm not sure how much of a concern this is.
At the end of the day, unless you are willing to supervise her (or get someone else to supervise her) around the clock, there is nothing permanent you can do.
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