Can Medicaid force us to sell the house?

Hello, I have read the article titled "Can Medicaid take a house to pay for nursing home care?" and find it very useful. However, I am curious. My parents have little or no income but they do have a house. If they apply for Medicaid and Medicaid starts paying medical bills only for them such as medication and wheelchairs, can Medicaid take the house when they pass away? My other question is that my parents' wish is to remain home for the rest of their lives so if they require home care, which Medicaid pays for and provides a home health aid to assist them with their daily living at the house, can Medicaid then force us to sell the house in the future to repay the cost of home health aid which could end up being more than the medical bills mentioned in my first question? Thanks for the attention.