At the risk of sounding like ‘Hints from Heloise’, towels bars make great transitional pieces to grab bars.
You can disguise the first appearance of grab bars by replacing your towel bars with grab bars. Repositioning may be necessary and make sure they are secured on studs. The bathroom may not look much different but has taken a big step toward accessible.
Do it at your convenience, before necessary. I can testify that as an able bodied caregiver I personally have never met a grab bar I did not also learn to appreciate.