Older adult sibling problem with parents

Looking for advice regarding an older adult child living at home and causing issues with my parents. We are both in our 30s (me early 30s her 36) in NY. I've moved out a while ago, she still lives at home. She has a career and makes good money, enough to support herself, and has plenty of money in the bank. She never helps my parents out with anything, always causes them stress, and won't be a responsible adult. Just lives at home on a free ride and refuses to be an adult, even though she is more than capable of moving out and financially supporting herself. My parents are older, and the stress she causes them from living at home is taking a toll on their health.

My father wants her out of the house, my mother would like it if she moves out too, but is more patient / doesn't want to throw her out. After the latest stressful situation she caused,my mother has gotten mentally sick from stress and is not acting right.

I, as the younger sibling, want this stressful situation to end, and I'm considering suing her and filing some sort of elder abuse complaint against her.

Can we legally evict her if only my father will seek that ? What are my options for suing her and having her removed from home?

I've spoken to her already about this but she still hasn't made much of an attempt to move out. She has the financial means to support herself, she is 36 years old and has alot of money in bank account and makes enough money, no reason to be living home anymore. The situation is causing health altering stress on my parents.