transfer of name on deed

Before my mom passed away my dad took her name off the house title and added my brother's. My dad wants to now take his own name off and add mine. Does he need my brother's permission. Because my brother wants to keep the house to himself when my dad passes. I'm also my dad's POA. Because my brother doesn't want to honor his wishes. My dad wants the house left to me and his grandchildren down the line. My brother is greedy and wants it all to himself. Is there a way to do this without the penalty of taxes. Thank you