You might want to do a title check. The lien may already be there. It looks like your brother received something threatening same, but you don't say how long ago. If he blew it off, Medicaid probably went ahead and placed the lien.
The kind of title transfers that you made probably did not require the involvement of a title company because no money changed hands and it was all in the family. You can bet that a potential buyer will want a clean title and if a wart shows up, it will have to be cleared.
So, if a lien shows up, it will have to paid off from the sales proceeds before any of you see any money from the sale. Hopefully, no one is counting their chickens before they have hatched. Hopefully, the possible lien is not so much money that it wipes out whatever you hoped to realize from the sale.