Potential One: Perhaps it is precognitive. That you are at a hospital and that you have a feeling Joe is in trouble may be an allusion to his suffering health problems. That he has aged shows a deterioration of the physical body in some form. It might not be serious, however, since he is leaving the hospital and proceeding to potentially drive away.
Potential Two: Perhaps it is subjective of your mind state. Maybe you worry that he will leave you in a sense, that time is marching on and people tend to leave each other by ill health or happenstance. Driving away, leaving you to care for your daughter alone may be a concern of yours that symbolically manifested itself in your dream state.
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