There is no asset test, and there is no paying back benefits if you are under 65 when you took them.
Medicaid expansion is quite literally the best insurance that money can't buy.
In CA, for example, a family of 4 earning less than $33,500 gets MediCal [1]. If you just want free coverage for the kids, you can earn $64,600. [2]
[1] - http://www.dhcs.ca.gov/services/medi-cal/Pages/DoYouQualifyF...
[2] - http://hbex.coveredca.com/toolkit/renewal-toolkit/downloads/...
A progressive tax system should not be paired with a regressive subsidy as massive as ACA. It adds up to nearly a 100% tax on the first $60,000 of income for unhealthy / chronically ill families, and a 60% effective tax rate for healthy ones.
It's also worth noting that, in most of the US, the alternative to medicaid was/is filial support laws, in which the nursing home could take the assets of the children of the patients in their care.
This is very, very far removed from the idea of health insurance. Your property becomes the property of the government. With real health insurance nobody places a lien on your home for medical services rendered.