Dear @Khan,
Welcome back to the Wefugees Community and thank you for your question.
I am very sorry to hear about the difficult health condition of your parents and I wish them all the best and very soon recovery.
I am afraid that I can not give you any positive information regarding your issue. As you may also read on the "Handbook Germany" website here, travelling outside of Germany is not possible as long as you are holding a Duldung (including a so-called "Beschäftigungsduldung" according to section 60c of the German Residence Act). Unfortunataly, I am also not aware of potential exceptions (beside pupils/students attending school trips). However, I will also link two of our experts here. Dear @mbeon-Christine or @mbeon-Rukundo, can you give any advice or add information?
All the best,
Meike