My father did not sign DPOA to me before his dementia progressed. Can I get guardianship since he's already declared incapacitated?

I hate using that word but that is the word Adult protective services used. Last year when my father's wife passed away he was showing signs of dementia so we went down and added me to his checking account. We singed Medical POA, thank god. Then he refused to go for diagnostic testing and even to go to the dr. Now he has suddenly gotten way worse. Adult protective services was called in by his dr and said he cannot return home and needs 24 hr care. They worked with his dr to declare him unable to make decisions and the MPOA kicked in. Now the NH has said he would need to apply for Medicaid and in order to do this I need to shut off his utilities and change his medicare provider so that he can get medicare benefits rather than this managed care. They need DPOA in order for me to do anything. So my question is: Is it easier and worth the cost of getting guardianship of my dad since he has already been categorized as incapacitated or will I have to go through lengthy court proceedings and pay attorneys? I cannot afford this process so I don't know what to do next. If it is just a matter of filing a document with the court, I could probably swing that but I don't want to pay lawyers to do something just to get a few utilities shut off. Is there a chance the utility and insurance companies would be willing to do it with a letter from his dr? Any help would be greatly appreciated. I am in Texas by the way. Thanks!