You can take a few of those steps out of the mix, but maybe not all.
On your Zoom account, you can setup a Personal Meeting Room. This is a static room where the ID will not change. These rooms must be secured with a password, but you can create a hyperlink that includes the hashed password.
You can use this invite link and create a shortcut on your dad's computer. This will get him into your meeting.
Once you're both in the meeting, you can click the support button on your side to request remote control of his computer.
He will be prompted to approve
This should take your list of 6 steps down to 2 or 3.