NY Help with protecting assets during renewal?

My parent who is disabled (not above the age of 65) is worried about renewing medicaid while protecting the assets they have. They receive disability per month and my parents have some joint accounts while some other accounts are individual. The assets definitely are more than the limit, but saved for debt I, a student, am accumulating along with other stuff.

We have been trying to find a navigator that can help them through the renewal process while guiding them how to protect their assets but its been impossible to get anyone to answer and find reputable people who are free.

Does anyone have any resources for Queens NYC?? ​