It should not interefere with it since an aoutmobile is an exempt resource. I keep the car in your mothers name with you listed as only driver for insurance purposes so that a gift is not made that would create a penalty.
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I am so sorry to hear about your Dad. I too have gone through this. Since you have his Medical POA, you can make medical decisions. But unfortunately, you do not have any power over the financial matters for your Dad right now. A question that I have is, has a determination as to your Dad's mental capacity in order to make a POA now been made? If your father is incapacitated, but he knows who you are, and how much money he has, he may be capable to sign a POA. He of course, has to...
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Generally you can do this. You may be paid to provide services to your mother. We recommend a formalized plan to legitamize these payments. More than likely you will have to pay income tax on these payments. Retro-active compensation is generally not available. The rule of thumb for the amount of compensation is what the going rate is for similar services in your area.