there is no legal way to take that away from you
Hate to burst your bubble here, but there are two major ways to take people's paid-off homes that I can think of just off the top of my head.
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Unpaid property taxes can force a foreclosure
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In all US states except Florida your home can be forced to be sold in order to satisfy a debt (like medical debt for example)
There are other ways you can lose your paid-off home as well:
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It is destroyed in a natural disaster in a place where it is difficult or impossible to get insurnace (Florida/California etc) and you can't afford to rebuild
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You need expensive end-of-life care and you have to sell your home to pay for that
I'm sure there are a few others