My stepfather needs 24/7 care but makes more than 17,000 NY requirements to be on Medicaid. But does not make enough to be placed in a home.

Please see an attorney, elder law, along with your Sister to make your Dad a ward of the State. Do know that the State will manage his money and his placement but that you will no longer have ANY SAY in where he is placed. That is to say that he may not be near you, you may not think the place is good, and etc. It sounds as though you and your Sister are unable just now to function in seeing to sorting out his affairs; I cannot blame you one bit. It is made very difficult when elder adults are between the devil and the deep. If there are any funds from/in his coop that should go into his accounts for his care. Good luck.
I am hoping some others on the forum may have other or better answers for you than I do, but this is the only one I can think of.