Your daughter would prefer to see you happy these years ???? There's only one way to not miss the boat - to jump in!
I don't think you need a medical insurance with the family visa; I was never asked for one; maybe after a certain age the rules change? But that'll be weird, that's not a retiree visa... The embassy should know, but my mission is to tell you as the son: if you really think about the daughter, just move!