I found 2 Listings in  Waldorf, MD 

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Morningside House of St. Charles

70 Village Street, Waldorf, MD 20602

Housing/Care Type: Assisted Living, Independent Living, Alzheimer's/Memory Care, Respite Care

Birchwood Group Home I

6212 Teaberry Way, Clinton, MD 20735

Housing/Care Type: Assisted Living, Independent Living, Alzheimer's/Memory Care