I don't really understand the question.  How old are you, and why would you want the sort of care that Medicaid provides if you expect to have several million in assets?  I'm also curious what you mean by "the complexity of an irrevocable trust."

I'm not sure I understand what "worth it" means.  The cost of a basic, revocable trust shouldn't be more than $2k.  If you own your home and have real estate investments, not having an estate plan that includes a trust would likely be very foolish.

I don't know anything about the "service" you're using, but an estate plan is the sort of thing that's worth actually sitting down with a local attorney.