I live with them but my boyfriend wants to go to the beach about 800 miles away I can get someone to check on them once a day mom is afraid to be left along at night my dad can’t get up at all, he's just barely able to feed his self. I really don’t see any harm in leaving them for a few days.
Another option is to check with the local care facilities to see if they provide respite care at their place. Your parents can stay at the care facility and be looked after by the staff for a few days.
Just don't leave them by themselves. A neighbor might call Adult Protective Services on you.
Enjoy your vacation!
For long term planning, you should really have someone come periodically, maybe one day a week, to relieve you so that you can have a break and a life.
For longer term planning, perhaps your folks should be in an Assisted Living facility or a nursing home. Ask their doctors.