Trust question

In Pennsylvania. Married, late 50s, two adult children, out of house. Assets are a paid for house, two paid off cars. Both of us have a 401k, and some cash. Want to make sure that if either or both us ended up in a nursing home, the house wouldn’t be sold to pay back Medicaid and our children would get it after we pass.

What is the best approach? Irrevocable trust? Putting the children on the deed?

Is there a way to protect 401k from medicaid?

Thank you.