My grandparents were very poor people. Both grandmothers lived into their 90's. They did not suffer for lack of health care. As they got older both grandmothers required increasing amounts of medication. They weren't turned away for lack of money from a doctor, hospital, or pharmacy (where you get medicines).
The state payed for most of their treatments. They had a very small amount they needed to pay out of pocket, somewhere between $3 - $5, per doctor visit and per presription refill.
They both also lived in public housing for the elderly. The state paid most of the rent and they paid a certain % of their monthly social security. They were also eligible for meals as well.
Until they became elderly and retired both sets of grandparents had contributed to social security because they were hard working people all their working lives. They were able to live in low rent apartments when they were working. However, when they retired they could no longer even afford low rent housing. They had no savings, no house. However, they did just fine in their old age.
They weren't on the streets and they didn't suffer because they couldn't afford doctors or medicines. I think our state and federal geovernments have excellent programs to take care of those who can't afford to take care of themselves.