Having a mortgage on the house would have been better. You can still take a HELOC out on the house even if you don't use it. I carry an umbrella policy. A paid off property can be put into an irrevocable trust. Here is one big key. The rich control property, but they don't own it. Tough to have what you don't own confiscated.
Your best strategy is to be deep in debt, own nothing directly, and carry umbrella insurance. Most judgments are paid out by insurance agencies, not the defendant.