I am a CFP, so I'm biased. That said, I would start with a CFP, fee-based might be the best option to start, develop the strategy there, then tell the lawyer very succinctly what needs to be done. The CFP should have an idea of what legal docs may be proposed (we aren't supposed to give legal advice, but we'd be pretty worthless if we didn't know the concepts going in). A good attorney will have a conversation about the pros and cons of each different way of accomplishing the end goal to fully flesh out the strategy laid out by the CFP.
I liken this to the CFP being the head coach, telling the Offensive coordinator attorney to run the ball. The OC then calls the specific play designed to succeed. The accountant is the guy who forwards the stats to the newspaper--he might have seen a lot of football, but I'm not trusting him to call plays.
Very, very few couples are subject to the estate tax. Almost everyone is subject to regular income taxes from IRAs, pensions, and social security payments. These tax problems often get worse at the death of the first spouse because some of the income goes away, in all cases the lower SS payment ceases, while the survivor is now filing singly.
Most of my clients that have trusts fall into one of four categories:
1. They were sold a trust based in fear of their children having to deal with probate/probate a home before they met with me. These are usually the most egregious and expensive trusts that people pay for. There are too many stories to count of elderly people who have virtually no assets that would be probated other than a home who pay thousands for a trust.
2. They are over the estate tax threshold--this is currently over $11m, so not many fit here.
3. They have special needs children who need funding for lifetime care--this is pretty rare, and requires a certain type of trust.
4. They have a blended family with specific instructions regarding splitting assets between 'yours, mine and ours' children or have significant charitable intent.
In everything financial, there is no free lunch. There are going to be tradeoffs--whether that be loss of control of the assets, tax issues now or at death, or incurring legal fees every time any change is needed.
I suggest starting with a fee-only planner, not because I think they are the only way to do business, but because lots of 'planners/advisors' are simply investment managers who really don't know much beyond investments. They get paid to manage money, so they may start by accumulating all the assets in their shop, without really addressing the problems that are most important to you. Fee-only planners know they are getting paid up front, not to manage assets, so tend to have greater breadth of knowledge--YMMV.
The final thing I'll add: You mentioned your mom's knees, so start with her primary care provider or orthopedist to find a reputable home care provider in your area. Then consult with the home care provider to decide if there are any modifications that can be made to the home to prolong its usefulness to your parents. Unless a home is too large or expensive for them to maintain, it is often the least expensive and most comfortable option for living once a few mods have been made.
Ridin' 'cross the desert. . .