Answer

If your step dad died without a will, then the estate will be disposed according to the intestacy (without a will) laws of the state in which you live. No one can "grab" anything and keep it--the laws of your state will determine the heirs and the amount that they collect.

If you have complied with the rules for adverse possession in your state, then you can make an argument that you own the property. Consult with a local probate lawyer regarding the estate issue and a real estate lawyer to determine whether you have fulfilled the adverse possession rules. Best wishes.

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