We would sign the Personal Care Agreement, but do not know if I have to treat that money as income and if Mom would need to file a tax form with the Federal Government. Concerned that at some point she may have to go on Medicaid and they would want all the money she paid me back.
So I live in one of the most liberal Medicaid states and a POA cannot be paid with a personal care agreement, it is a conflict of interest. So, you need to find out if you can legally enter into an agreement in your state.
If your mom can pay you, hire a fiscal intermediary to set up the EIN and process payroll.
A personal care agreement does not really mean squat imo. You need a timecard validating your agreement at FMV. Bogus agreements under FMV are rejected and can be considered gifting.
As Alva stated get a lawyer but do ask for suggestions on what to ask, write them down and go from there.