When you know someone is dying, do you ask their family if you can visit them?

Personally I feel like it puts them on the spot or on edge unless you were very close.

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You are right - it can be an imposition.. much does depend on how close the relationship is. Seriously ill people can struggle and visitors can be tiring..
I'd think we'd have to ask ourselves too.. why do we want to visit.. is it for them or ourselves