Resources to help Senior find supportive housing

I've got an ethical, legal and moral problem.  My parents hosted a renter on a "temporary" basis, and that situation persisted for 19 years.
It's no longer working out, but as everyone knows, housing is tight and all the agencies offering subsidized housing are oversubscribed.
Where can a 78 year old bookish gentleman who loves conversations find a room or share?  We've tried all the agencies, but his social security income is just $500/month.  Is anyone looking for a limited live in helper, able to drive, but still definitely a Senior Citizen?

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There is a place in Cotati (Sonoma County) that can get him on a waiting list. My mom got in (after years on the wait list...) and LOVES it there. Little 1-br cottages, some shared community space... Sweet area! Subsidized housing.