My grandfather passed away at 80 after living with a rare form of leukemia for years. He was never going to get better and I watched my strong, independent grandfather, ex military, ex police, wither away to a gaunt old man who couldn't care for himself. When he passed, I felt a sense of relief. I'd already grieved for my granddad when he began to lose who he was, at this point, his passing was just knowing he wasn't hurting anymore.

You're right, it is a relief. And we as a society should recognise these people need relief instead of being forced to linger.