If you really, really want to work in your parents stand alone urgent care centers, here’s another option: nurse practitioner. (DNP or APRN)
Nurse practitions do not have independent practice rights in TX; however, their supervising physician needn’t be onsite or even nearby. They can practice without having a physician immediately supervising their practice.
DNP or APRN requires a BSN (4 years) or RN (3 years) followed by a period additional training (typical 3-4 years), thought there are direct-entry BSN→DNP programs that only require 2 years of additional education.
Nurse practitioners do not do residency training. They learn on the job through a probationary period with their employer. The probation period is usually 6-12 months.
If all you want to do is urgent care work, that pathway gets into the job much quicker and your scope of practice will have a large overlap with those of physicians who work in an urgent care. You can assess and diagnose patients, initiate and manage treatment plans, prescribe medications, order diagnostic testing…