I wouldn’t want somebody making me leave my home. He doesn’t either.
My mom is 82 and said for years that she wanted to live in her house until she dies or decides to leave. Fine. And now her house is for sale and she has plans to move on. It was her decision to make.
As long as he is able to care of himself and can make rational decisions let him stay where he is.
When he is no longer able to do that, and is a potential danger to himself, it’s up to the family, and not an outside agency, to put Dad where he will be well taken care of. That would be with a relative or in assisted living.