Just know you always imagine it far worse than it really is. We prepared EVERYTHING! Cleaned the cabinets, refrigerator, etc. And the worker just came in, poked her head in each bedroom and asked a few questions (like when was the house last painted). ANd that was it. I actually got to the point that I cleaned the house because I thought a social worker who was coming was going to want to look around. THen if they didn't I dragged them through the whole house anyway. They must have thought I was crazy.
Good luck, everything will be just fine!