I say trustless because it avoids probate courts and taxes.
Clone your hard wallet with a different PIN
Place hard wallet in the bank or insured secure storage
List beneficiaries with access upon your death or impairment
Give beneficiaries the PIN now
That's it. Simplicity is a fundamental security practice. I don't agree with the complexity of multisig, Shamir Secrets, 3rd party signers, etc.
As an aside: Written and stamped seeds create attack vectors. Your seed should be memorized and backed up on a hard wallet. If you have a brain injury, you can recover everything, because your loved ones have a PIN, which differs from yours, but opens the cloned wallet. Memorization is the coldest act of self-sovereignty there is, because you bond the seed to your person as language. It means that no law enforcement agency, flood, fire, tornado, jealous ex, or lucky metal detector can separate you from your bitcoin by getting your written/stamped seed. 90% of the lost bitcoin wouldn't be lost if people had simply memorized their seed. If you also don't stamp or write your seed, you effectively eliminate every loss vector. There are hacks, but the risk here should be zero, because your seed should never touch an internet connection or internet connected device, because you should be using PSBTs. Your seed should exist nowhere in the world but for your brain, and encrypted on your hard wallet(s).
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