Hi @Darmain, we’re very sorry on the passing of your Mother - our condolences. Losing a parent is never easy, even when that passing is a release from suffering.
Your Father’s situation is becoming more common as our populations age, coupled with the scarcity of residential places available at aged care facilities - and so your suggestions are very timely.
Currently, it’s not possible for Mycroft Devices to do remote communications, over a protocol such as SIP or XMPP - although this is something that others have explored - there are libraries available that might work for inter-device communication - such as suggested in this Skill Suggestion.
The Companion / interactivity piece is a little harder to achieve. At the moment, Mycroft’s Skills - as you’ve probably identified from your own exploration - are based on Intents and then taking action in response to Intents. Dialog trees in Mycroft are somewhat limited, and are generally closed ended. In speech recognition, open ended dialog - such as
“What are your thoughts on Immanuel Kant?”
or
“Who do you sympathize more with in Moby Dick - Ishmael or the whale?”
are much harder to achieve - as the artificial intelligence has to be trained both on the corpus of knowledge surrounding the questions - ie “literature by Herman Melville” or “German philosophers of the 18th Century” - and to recognise common dialog trees around that corpus -
“I disagree with Kant’s view that there is a moral categorical imperative; ethics is much more nuanced than that”.
Of course, it is possible for Mycroft to have very basic interactions - such as
“How are you feeling today?”
but they in no way approach the level of rapport or trust or emotional depth that I would ascribe to “companionship”. Some relationships perhaps, but not true “companionship” 
Cynicism aside, I think that more broadly where this is going is toward the evolution of the personal assistant to the personal companion. In education, we rate the difficulty of a learning exercise using something called Bloom’s Taxonomy. Personal assistants exist at the lowest level of this classification - able to handle very primitve tasks.
A true ‘Personal companion’ would be able to synethsize, interpret, posit, assert and debate. And be a true ‘companion’.
However I think we’re definitely a few years - maybe 2-5 years - away from that at an industry level.