To file a 2022 return now, you will need to buy the desktop version on a CD or as a download to install on your own Mac or PC. You can buy directly from Turbotax, or some third party retailers like Amazon, Staples or Best Buy may still have copies of 2022 for sale (don't get confused and buy the 2023 version). The Deluxe version covers all situation, but for a self-employed business, the Home & Business version has a more supportive interview process.
Once installed, you can use the program to prepare as many returns as you like. Each return is a different document, like having multiple spread sheets or word processor files on your hard drive. E-filing 2022 returns is closed, so each return will have to be printed and mailed. Pay attention to the printed instruction page, because it will tell you what address to use and what documents need to be attached. You should probably use a mailing service with tracking.
It sounds like you need to prepare your own joint return (yourself plus your spouse) and maybe a return for your mom and dad. Your parents will file a joint return this year, even though your father passed during 2023. However, if your mother is no longer mentally competent, you can't sign her return unless you have a power of attorney that she signed while she was still competent, or you go to court to be declared her guardian. Note that if you do have a power of attorney, the IRS still wants you to use their form, Form 2848.
https://www.irs.gov/forms-pubs/about-form-2848
https://www.thebalancemoney.com/how-to-file-tax-returns-for-an-incapacitated-parent-6281213
If your mother is competent now, but might not be for long, she should sign a form 2848 for you giving you future authorization to deal with her taxes.
Lastly, a penalty is only owed if you owe taxes; if you are due a refund, there is no penalty for filing late. If Turbotax tries to asses a penalty, you should decline, and wait for the IRS to bill you. At that point, you can request a waiver of the penalty for just cause.
