@josephtheprotector My father was disabled for the majority of my older life and when I was younger (his mom) my grandma also had the same issues mostly just diagnosed at an older age.
I can't give much advice and I read that you express your gratitude and thank her but from what I remember most about helping my father and grandma was as a child they asked me to let an adult help when I tried and that worked but they were utterly mean to their help.
In their cases they were paraplegic and I can't imagine how hard it is mentally though.
As I grew older and began to assist them along with my moms help, they began having bad attitudes towards me also.
I'm not sure if they were like this because the only control they had was verbal but it was almost so debilitating to even help because when helping them you would also get treated poorly.
Your daughter seems like such an incredible woman! It is obvious you know that and appreciate her.
Based on my experience, my only advice would be not to treat her.poorly even under mere frustration.
You seem wonderful also! Positivity goes a long way!