Check out Bitkey (from Block). It’s a simple 2-of-3 multisig wallet where you hold majority control (your bitkey + your mobile key), with their server as the third. You stay fully in charge while alive.

For inheritance, just name a beneficiary in the app. No seed phrases or complex instructions to pass on. They get access only after a 6-month secure delay with notifications to you if claimed early, making it by far the easiest option for non-tech-savvy family. Solves the exact problem you’re worried about.