This is assuming there are no problems.With that said, there is risk in everything you do. 

Using basic risk vs reward metrics, you're increasing your risk by allowing an adult to be in the property and not a responsible party to the lease, but you get no additional reward.

versus a new property with it's income/debt load.Other considerations might be if that property you own is at a great risk for capital expense that can create a real urgency to sell and 1031 before the capital expense hits.

Feel free to reach out with any questions.

In addition, the owner of the home must not own more than three single-family homes.3) They are unable to provide sufficient documentation, such as the emotional support animal letter, that verifies the ESA is necessary for their health and well-being.4) The tenant provides fraudulent documentation attesting to their need for an emotional support animal (usually a fake emotional support animal letter).5) The landlord can demonstrate that making accommodations for an ESA would impose undue financial burden or logistical burden. 6) The animal is destructive to the property or displays threatening behaviors that could put other tenants or yourself at risk.7) The size or nature of the animal makes it impossible to house safely or humanely.

Start with BiggerPockets Ultimate Beginners Guide (free).

Hi, my goal is to access the equity in the rental property. It's a duplex. It's paid off. I have it in a separate LLC. I would estimate it's value at 130-160k. I don't want a loan larger than 100k.
Most lenders have ...

I just created a free account to check on one and you still don't get any info until you upgrade to "premium." 

But my mom’s neighbor’s husband passed away a month ago and I found that 2 year rule for MN residents (and other non-community property states.)You should be virtually tax free.

That's six months of free rent (thanks to the tax-payers and a government that loves to be generous with other people's money).