My boyfriend wants me to put him first above my elderly parents whom I live with and help care for. Is he being unreasonable?

My boyfriend and I have been together for more than three years. We do love each other and would like to get married one day and share our future together. He is divorced and has adult children who do not live with him. I am a single mom to a 12 year old girl, I have never been married and her father has never been in her life. We both have been living with my elderly parents in their home since she was born, at the time my parents were healthier and able to live independently for the most part. I also work full time and have some of my own health issues. My father now almost 90 and my mom a bit younger but has many serious health problems as well as mobility problems. She can not climb stairs and cannot walk without her walker. They have their beds set up in the living room. My father still does drive but very little. I help them as much as I can as well as help maintain the home inside and out. They have personal care workers that come a few times a week to help with showers and some light duties. My father has someone for snow removal and cutting grass. But I know that personal help they get from outside the home would not be nearly enough to sustain them living on their own. Since I’ve had my daughter up until almost four years ago, I focused strictly on my daughter, my job, my parents and the home. Although I was exhausted all of the time, I have no regret. But it does get lonely. So I met this man a little over three years ago, and I do want a future with him. But I don’t know how to pick up and have my own life? I know my parents need me, they wouldn’t be able to live in their home on their own. And then there is my daughter to consider, she grew up with my parents from birth, they are her home. And they are extremely attached to her as well. So it’s not only the physical care but the emotional devastation that would cause to my daughter and my parents, especially my father. I really feel stuck. I want my own life but not at the expense of my family. Of course my boyfriend knew the situation from the beginning, and he accepted it. We talked about him moving in to my parents house as well, until the time is right and we can have our own home. Ideally I would live very close to them so that I could check in with them daily. I know that this isn’t an easy thing for him to deal with either, he has no ties so he just wants me to leave and get an apartment with him, he doesn’t address how we will care for my parents, he just says I have two other siblings and they can worry about it. One of my siblings lives in another province and the other is married with two small children with their own home. I just feel it’s very selfish of him to just expect me to abandon them without a care or a plan. In fact he talks about living in areas that are quite far from my parents, not to mention my daughters life would be completely uprooted, taken out of the home she’s always known, different school, new friends and at a very delicate age as well. I’m so torn, I feel guilty if I move, I feel guilty if I don’t move, but mostly I feel angry at the way he wants to go about it. Without a care about how this will impact my family members that do need me. I really don’t know what to do. I’m chronically depressed.
He’s pushing me to move out with him, he says I need to grow up! He’s acting as if I’m 25 living at home while my parents cater to me. I’m a middle aged woman working full time, raising my daughter on my own, while taking care of my elderly parents...house and home. I’m stuck between a rock and a hard place I guess. I really don’t know what to do. I feel stuck. And I just wanted to mention as well that he has brought up wanting to get married about a year into the relationship, yet he has not proposed. I mentioned this to him and he said he will never propose until we live together first. Am I supposed to create chaos in my family just so he can test drive me? But no real commitment?