Hi - my name is XXXXX XXXXX I'm a Family Law litigation attorney. Thanks for your question.
Sorry for your troubles with this, and unfortunately this is not an uncommon situation.
To answer your question, yes you can deed the property back to your father. All you will need to do is have an attorney draft and file a deed memorializing the transfer.
It may be better to set up a trust for the benefit of your father, which will allow him to receive any benefit from the property, but keep it separate from his personal property for social security, Medicare, Medicaid, etc.
You can discuss both options with a local attorney.
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