There is a five year look back where things can be undone, so I'm looking for a workaround.As they will be moving to be closer to more family, I suggested using cash from the aforementioned accounts and the full equity in their current house and .buying a much more expensive house. 

This way, I don't touch the original funds at all, and I can't touch the payback funds until all debt payments associated with it have been paid.This is a proactive, risk control.Now this is just a 30,000 ft view of how I do it, details and other aspects of this system not mentioned here, but this overview of it should give you at least an idea of how you can handle it at your end....and what @Jay Hinrichs just wrote

Do you think that is a reasonable ask given the circumstances mentioned above and any recommendations on negotiation techniques?

What I noticed from my own study of the metrics that the article didn’t mention is pending sales.

From there it comes down to your marketing, as Dan had mentioned, Craigslist, Ebay, Zillow, etc.

I mentioned all of this because sometimes people unaware of all this, buys insurance in his own name as you would normally do, go to a insurance agent that doesn't ask too many questions, send a policy to the bank with the wrong primary insured, hoping snoozing employees would make them safe.

You may have a great deal or have the ability to create a great deal as mentioned by @Brian Ito but you need to put in a little homework up front and then take your shot from there. 

However, a developer mentioned it would be a wise idea to do a condo conversion even if I’m planning to keep the property.

I had recently listened to a BP podcast that had mentioned a great tidbit on negotiating MLS deals.

The work you mentioned is absolutely negligible and you will open a real pandora's box bringing inspectors into your home and start an endless stream of trouble.