Seeking Advice on Encouraging Family Prayer

As-salamu alaykum everyone. This has been weighing on my heart lately. My family has South Asian roots, and we live in the West. Alhamdulillah, my parents taught me the Quran when I was young, they always fast, use Islamic phrases, and hold strong Islamic values - but they just don't perform their daily prayers regularly. I truly believe they have firm faith in Allah, yet Salah isn't part of their routine. My father often jokes it off with “InshaAllah I'll make it to Jannah” and changes the subject. He joins Jummah and Eid prayers, and sometimes catches a prayer if he's already at the masjid. As for my mother, I honestly can't recall seeing her pray, and I worry she may have forgotten how. It's hard for me to advise them gently because, I admit, it upsets me to see Salah neglected out of what seems like carelessness. When I've tried, they tease me by calling me a 'molvi' and ask me to drop it. They tend to view anyone emphasizing prayer as being 'overly religious.' I've tried leading by example - I've been praying all five daily prayers consistently for over two years, alhamdulillah - but so far, no change. Their health isn't what it used to be, and I believe that plays a role. The thought of them passing away without establishing Salah terrifies me, Allah protect us. I don't think I could ever find peace if that happened. Some opinions even suggest that neglecting prayer is extremely serious, which adds to my anxiety. Has anyone here faced something similar with close family? What approaches, if any, have helped? May Allah reward you for your advice and shield us all from such trials. Jazakum Allahu khayran.