Would you seek subsidy after the fact?

We adopted DS1 from foster care, but we were matched through a private agency. We were given kinship status (ie no stipend) until the adoption was finalized. I didn't care, we didn't want money. He was exposed to several different drugs in utero but it wasn't clear if he tested positive at birth. However, given what his FF told us, it sure sounds like he had a bit of withdrawal. But we are told he's fine, doesn't need services, etc. Fast forward a few years, and we are licensed foster parents with training in drug exposed infants under our belts. We are matched with another baby in foster care. He's in every type of therapy possible and doing great. I comment to the AW that I wish I'd known about the therapies for #1, as it seems like he could have benefitted from OT. (DS2's therapist commented that #1 shows signs of sensory issues and hyperactivity, and that even if things are mild now, they could become big issues later.) AW said not to worry, that Medicaid will cover him. Uhhhhh... He doesn't have Medicaid. We were told he didn't qualify for any subsidy. She said as far as she knows, all kids adopted from foster care at least get Medicaid even if they don't get a stipend. I didn't have the energy to deal with it right then, but when I see how far ahead #2 is than #1 was at this age, it makes me wonder if he is affected more than we think, and maybe we should get him the insurance just in case.... So WWYD? Fight for Medicaid, or keep our fingers crossed and hope for the best? Is it ridiculous to think he'd qualify 5 years later just based on the fact that his bio mom did drugs during the pregnancy and the possible issues that could arise later?