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At an old age peacefully after having a satisfying life
Preferably before neurological decline sets in as I'd prefer to not go like I've seen so many others go; forgetting the faces of their loved ones
I'd also hope that I will have left happy memories with those that would remember me after I've passed. Stories they'd love to tell people. Stories their grandkids would love to hear.
That and other paintful things is why I am already (as a 17 year old) planning a suicide at 90 or when dementia starts (if i survive that long).
I used to know a man who made it to 107
He was fully coherent until the end
He passed away on his own terms after his doctor told him his cancer was back in full swing and more aggressive than before.
I still miss that old man telling his stories about growing up and then raising kids during the Great Depression. Or him talking about his older brother passing away during The Great War (WWI). Or talking about watching the moon landing with his grandkids. Or one of my favorite stories of him: how him and I used to race to the rhubarb and gooseberry pies at the restaurant I worked at.
His wake after he passed had literally hundreds of people. He impacted so many peoples lives in a positive way.
Stick around for awhile, you may make it longer than you think. And even in old age you may meet people who you have a massive impact on their lives.