I plan to put away 5% each for vacancy, capex and repairs and maintenance.Other monthly costs:Water $200Garbage $96Electricity $50Termite protection: $22Following all of this our total estimated annual cash flow is $23,036.

I haven't had the problem but can't deny its been a question of what can I do to protect myself from this type of stuff.

you are doubly protected if the new property doesn't have a mortgage on it and you can get cash out of it to refi the first at a balloon deadline.

If they both die I stop paying and fully own the property.What are the best steps to go about this to make sure I am fully protected. 

They have very few housing options, so they're protective of the option they're living in.The trick, if you go this route, is to separate the good from the bad. 

Ours was mandated 2 years AFTER we closed after an apartment bldg fire in the town had the bldg insp enforce all the IROC2018 fire protection codes, no exceptions.

An HOA is meant to protect, and is usually run by, the owner-occupants.

Do a quick forum search for differing opinions; there was also a GREAT rookie podcast a few months back where they interviewed an asset protection lawyer ( Rookie #105, Brian T Bradley). 

Otherwise sounds like you are adequately protected if you need to foreclose. 

Always protect yourself against the bear outlook on the market while moving forward to grow your wealth.