Some posts say you only need an ID, others state you need proof of residence and income. Which is correct?

You only need an ID. And if you have any dependants (children under 18) you just need their birth certificates or proof of gaurdianship.

When we stop by they had us fill out paperwork and only required an ID

What you need exactly is YOUR ID, AND it's for everyone who lives with you, such as state ID, drivers license, or birth certificates. If you have anyone who comes to your home everyday and consumes food, or like having your grandchildren there that you take care of, if you do NOT have custody or their birth certifica ets they will n9t count as a member of your household.

Jus ID

When I first went there I gave them my I'd and a utility bill with my name on it, that's it.

If its your first time going you need ID, birth certificate, proof of residents.