Legal Question in Wills and Trusts in California

You do not give us enough facts to know what the legal situation is. Why did the county order yo to leave, what property rights does the County claim, was your father's interests in the property probated, etc. There is no such thing as squatters right; they have no rights as they are just permanent trespassers on the property. The house is automatically homesteaded by law and that also seems irrelevant to the situation.

If you mean title to the property was acquired by your folks "proving up" on a homestead under the old Federal Land Act but it is located in SB County I still don't know why Orange County is even involved, unless they have been appointed conservator of your mom's person and estate, in which case they are probably seeking to sell the real estate for the expense of her care. You would be better off contacting the deputy counsel on the case and seeing if you could pay rent to them.

When people talk about "squatter's rights" they mean adverse possession. You cannot adversely possess property that a government entity has acquired. It is not clear from your post why Orange County has an interest in the property, so I suggest that you repost with more detail along this line, and give up any misconceptions about adverse possession.