The misconceptions about loan repayment were far and wide before reverse mortgages became regulated and federally insured financial tools.
The lender does not get the home, take title to the home, or own the home or its equity in any way.
A homeowner or heir can sell the home ( that has a reverse mortgage ) at any time with no prepayment penalty. The rule of thumb is to not pay off the loan for at least 18 months after settlement. The HECM is a lien like any other mortgage and when the home is sold the mortgage is paid off.