The tax issues are very clear, so I don't think you need specialist advice on the issue, unless you are planning something very complicated.
I don't know what "5 years after their death" refers to, so maybe the rules are not that clear.
I suggest you specify what you want to do on Askaboutmoney and you will be told if there is a problem with it.
After that, you need to go to a solicitor to put it into practice. Your solicitor (and most people on Askaboutmoney) might well advise your parents not to give up ownership of the family home while they are still alive.