I thought that any money/assets that change hands is Ok if 7 years pass by. For example if the house was transferred over to the grandchildren, and 7 years went past, then there is nothing anybody can do about that.
I know of a family that swopped homes, ie the children moved in with their elderly parents to look after them, the house was transferred into their name and their adult children (who are in their 50s) their house is transferred over to their children, and presumably transferred into their names. Of course the intention is to look after and take care of their parents in their old age, and if seven years pass, then this is all OK. Or so I thought. I know with this family the grandmother did go into a care home in the last couple of years of her life.
I also know of another friend who helped her parents to sell their home when they were in their late 70s, she also sold her own home and a larger house was purchased for them all to live in together, there was enough room for two separate lounges, and two separate bathrooms. At the same time as all this went on, both the two grandchildren, who were in their twenties, managed to secure properties for themselves as well, so I assume there was surplus money available. Anyway quite a few years went by before my friend's parents passed away. Although they never really settled into their new home.
I think it makes sense, looking after your children and grandchildren. Especially in this day and age, when children cannot afford a home as properties have become a ridiculous price.