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Who is the Trustee and is the the co-signor?Would they agree?
If the Trustee agrees there is no reason not to do this.
Presumably the person who left you the money just wanted to be sure you were not being cut off from your disability benefits but if you are sure you are not going to be then you are free to do what you want since the other Trustee agrees.
I don't know why the lawyer didn't suggest it but you voluntarily put the money in Trust and so there is no legal reason why the Trustees (you and the lawyer ) cannot decide to provide you with a lump sum payment from the Trust and that would then close it out.
The Trust was set up to shield you from losing the benefits that are not longer at risk and there is no longer a reason for the Trust.
I am a lawyer in Ontario where an absolute discretionary trust is mandatory if the beneficiary is on governmental disability benefits.
I do not know what you lawyer thinks, and I do not know all of the facts. All I can tell you is that if this is a trust where you can distribute any amount of money you wish at any time there is nothing stopping the co-trustees from deciding to distribute all the money and closing the trust.