The bottom line is yes, but the coverage is narrow and limited and you have to jump through a lot of hoops and probably work with a Medicaid Lawyer.
Community First Choice (CFC) is a Medicaid program that was created by the Affordable Care Act (ACA) to make it easier for states to offer home- and community-based services to Medicaid beneficiaries. (The ACA added the CFC program to the Social Security Act, under Section 1915(k).) States that choose to run CFC programs will get increased federal matching funds to provide care attendants and supports to Medicaid beneficiaries who would otherwise need to be institutionalized.