I am sorry to hear this- especially since it is very sad when family takes advantage of an elderly parent-unfortunately it is not uncommon.
Basically the mother, even if she does not pay rent, is a tenant and is afforded the same rights as any tenant, meaning the ability to invite guests. The only way to control who has access to her would be to get a guardianship- that is explained here:
Then the guardian can instruct someone to not visit and if they do, the guardian can seek a protective order (which will usually be granted if there is financial elder exploitation- unduly influencing a senior for money)
As for personal belongings, making a claim 6 years later is not timely so if they filed a suit for recovery for it the court would likely bar it based on laches (untimely request)
Presumably the items in the home transferred with the home, so even if the request was made in a timely fashion, unless there was a will stating that person was to receive it, the court would likely assume it belongs with the house.
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Information provided is for educational purposes only. Consultation with a personal attorney is always recommended so your particular facts may be considered. Thank you and take care.