Is it possible to have death without sorrow, separation without pain ?

My grandmothers both had alzheimers. By the time they passed, neither had been even a bit of themselves for sometime. I can't say it came without any sorrow, but we had all grieved their loss well before they passed. They were both fiercely independent, strong minded women. Neither would have wanted to have lived a day of the life left for them in their final year.