He is 94 and his mental capacity is eroding and he is living alone and we want to sell his home and move him into an assisted living facility but we do not have power of attorney and he is not interested in approving that option for us as he feels he is in fine mental condition.
Yes guardianship is expensive. He would have to be evaluated and it determined he cannot make his own decisions. He would be present for the Judge to hear his side.
I don't want to scare you off from this. But I highly suggest that you pay for one hour of an Elder Law Attorney's time now, and then take a bit of time to make your decision. You will, at the least, know what you are looking at.
Perhaps you can do the same, take him to a local attorney to explain the reason why he needs one.