Does anyone do home safety inspections?

Yes. Occupational therapists are qualified to do home safety inspections for a disabled client. Some home care companies also offer inspections. Right at Home, for example, includes an inspection See also:
How can I get financial help for things like a ramp and hand rails to accomodate my disabled mother who now lives with me?

See all 120 questions about Home Safety for free when they come to your house for an initial home visit to learn what services are needed. Other companies specialize in home inspections, but their availability will vary depending on your location.

However, the easiest way to ensure your loved one’s home is safe may be to check it yourself. Many organizations offer home safety checklists, including Right at Home and Caring.com.