If you want your heirs to have access to your bitcoin only after your death without you having to reveal your private keys (or seed phrase), you can follow the guide provided by LoyceV.
Using Locktime for inheritance planning, backups or gifts

Hmm, interesting well, as you should know the key is to access the assets, and that key cant be shared if you want security. If you've lost the key or anyone doesn't have it he cant access the Bitcoins in the wallet. So you need to pass the key but there is a huge risk haha, as I had mentioned already if anyone has the key he can withdraw all the funds. More interestingly haha in reality people store Bitcoins for their hiers. I use to keep my keys mostly in a place and few of my family members know where. As you know haha Death is the reality and it can be on the head anytime.

Knowing fully that bitcoin is not stored on the wallet we make use of, it is stored permanently on the blockchain, what is needed to have an access to this bitcoin is the unblocking keys needed to decoded the encoded coins on the blockchain through the wallet, that is why we need to have the private keys or the seed seed phrase to have access to the bitcoin on the blockchain, someone like me may hand over the keys to my children if i want an inheritance for them, there's a bitcoin timelock device as well which we can use, some may also finds a means of passing the last key or seed of their wallet to their children through a different sources or written down and archived.

But I do believe that there would be more husbands or men would be trusting up their lawyers on storing up their funds or having that will rather than on trusting their wives. 
Even myself cant really be just that too confident on sharing up my wallets private keys into my wife specially i have saving up in secret and i dont really like for these funds for it to be accessed on the right time.
Not really that on being too selfish but i cant really just that able to freely them able to access my wallet on which these funds been saving up on the right time that they would be able to benefit.
I cant really just that be too confident for now but time will come that it would really be that come in to use. We are all afraid of death and it is really just that right that we should really be making out
those back up plans so that the coins that we are trying to save wont really be coming into waste and this is why its always been ideal on what are the ways that you would really be making use of.

Whether you would really be including it on some will or those recommendations using up LoyceV's suggestion which it isnt really that bad either.

Leaving bitcoins to heirs may sound scary, but with the right education, it doesn't have to be. Most adults haven't established an estate plan. It didn't even occur to them to protect their bitcoins and leave them to heirs. You can enter where your Bitcoin backups are stored. You can write that your Bitcoin keys are stored in a family safety deposit box.  Now, this information will not be helpful to strangers or hackers. They will have no idea what the keys are, or where your family safety deposit box is or how to get into it. But a trusted family member will tell this information. That way, you can have peace of mind knowing your bitcoins will be found by the right person.

Willing your bitcoin to your kids need trust from the third party that will do this when you pass on. As human,we know those that we trust and can put them in charge of the will. If my wife is sincere and I have confidence in her that she will do anything to take proper care of my kids when am gone. I will teach her about bitcoin and how to make transaction with bitcoin and the safety of the wallet,and I will instruct her on what to do. If my lawyer is the most trusted person, I will also tell him how he can go with giving my children their inherited bitcoin. The best way is if your kids are grown up,teach them everything they need to know about bitcoin and when the time for your departure comes,you can just give them the seed phrase for them to import it to their own wallet.

I am the complete opposite of you, I will always trust my loved ones more than any outsiders including the law enforcement.  as a human being, everyone will have greed, so I would rather trust my loved ones because they come into contact with me every day, I have no reason to trust people who are working with me for money.  to keep a secret as sensitive as the seed phrase, I think it would be better to choose our loved ones than those who are working for money, they can sell us out at any time.

Strangely, there are couples who eat and sleep together, swear to live and die together before the gods, but only because of bitcoin, they doubt each other.  i have a feeling those people are valuing bitcoin and money more than their spouses and children.

make a multisig of X+1 surviving relatives..
EG if you have a wife and 2 kids = 3 surviving relatives. have a 4 of 4 multisig

you keep 1 key secret which goes into a will and give other 3 to your family upfront.
they can only unlock at the reading of the will to complete the key set. and the lawyer with access to only one key cant steal the funds alone

You have posted a very nice thread, and it's true that most people are holding Bitcoin for their next generation and they really can't tell the secret of their holdings to anyone currently because most of them are planning to hold Bitcoin till 2050's before letting their next generation know about the investment their parents have made to secure their children's future. There can be many things done to protect those Bitcoin and transfer it to the next generation upon need.

It would still be difficult to transfer the Bitcoin to your next generation in its current state and that's why you must have to have someone else on your side who might also know about your investment and would never ever tell anyone about it or misuse it in anyway. It would be hard to trust the lawyers with the private keys of your wallets because they can access and transfer those coins and may change easily change the will details.

The proper way should be to tell your heirs about your Bitcoin investment and also tell them that you have hidden the private key somewhere in the home which they will have to find after your death. I know that such thing seems crazy, but if you can't share the private key the way it is then you will have to share it in this way. You should also leave hints and clues about the place where you have stored your private keys, and it would be better to tell your children about the passwords of the devices where you have stored your private keys, but you should hide the devices from them and would tell them to access it only if suddenly something happens to you. I think this is the only possible way to share details of your investment with your children, and I would also recommend you to avoid telling them about the amount of Bitcoins that you have been holding for their better future.

I believe that the goal of this bitcoin inheritance thing is to avoid the third party involvement like a lawyer, bitcoin has a trustless mechanism so no other party is required in doing the inheritance. At the end of the day it is still the decision of successor on what he/she will do about the bitcoin he recieve. For sure he will be forced to learn atleaat the basic of crypto for him/her to access the inheritance.