Are you a bad daughter?
From what you posted, I say no way. You have done more then most would and are showing respect and concern for Dad.
What I had seen in my life...my mom was the toxic one and she never knew how to show her love or speak well of others. It was always a negative from her.
It took death at the door for her to say I Love You. It was the first time I remember hearing such come from her lips towards me. She passed away 2 hours later.(1986)
I know that the negatives hurt. I know that when we hear them enough, we may start to believe them as truth BUT... we are now adults and we need seek and accept the real truth... We are worth it. We are Ok. We are strong (look what we lived through and made it out of).
Dad can't show love (doesn't know how) but I am sure he has his own inner battle with that. Let him deal with his battle and know that you are ok and you are worth so much.