My mom wishes to stay in her home. Does Medicaid help with in home care if her needs allow for that?

Yes, but the in-home care will NOT be 24/7. You will be limited as to the burial plan asset and how it is set up (funeral homes are very familiar with Medicaid rules in their state and will help you). She will have to spend down the cash assets to about $2000 (it's worth using part of that money to get a good Medicaid certified elder planning attorney) and you will need to get up to 5 years of bank records to verify expenditures and income to get her qualified. State programs vary, so find out quickly if there is a waiting list for in-home care. Some states and counties are now requiring that adults attend day care in their area instead of one-on-one help unless they are housebound. A good attorney will advise you of how the rules work, best ways to spend her money to get qualified, and make sure you don't have any hidden problems before you apply.

Yes. Medicaid provides in-home care. This is never 24 hour care.

Go ahead and apply for Medicaid now.  Mom will have to "spend down" her assets to be under the allowed amount. Once the application is approved she will be eligible for in-home or facility care, as appropriate.

Have your mom plan for her own funeral. Nobody likes to think of their own mortality, no matter the age. Medicaid can't touch what she paid for in regards to her funeral and burial if her funds are depleted.