Lawyers can be a real PITA. It's no surprise they have the reputation they do as a profession. In my parent's case, my Dad's lawyer set everything up so my Mom could become a ward of the state in essence, leaving my Dad's assets essentially untouched. My Dad even had power of attorney concerning my Mom's SSI benefits, giving my Mom an allowance for clothes, etc. I'm not sure what kind of legal mumbo jumbo the lawyer used but we were glad that he did.
I never expected to inherit anything from my parents. I had always told them and my siblings that my wish was the day they turned their toes would be the day they spent their last penny. We each got a few thousand each. For me it was enough to buy a seat of SolidWorks and a few other things. All the grand kids got gifts before my parents passing and were not included in the final bequest.
For my wife and myself, we set up a revocable trust. Since we have no children, aside from a bequest to my wife's twin sister in N. Ireland, all our net assets will go to various charities. The biggest problem will be disposing of all the shop equipment. We don't have any nieces or nephews who are interested in things mechanical and I would like to see the equipment go to someone deserving. In particular, moving the lathes and mills out of the basement shop isn't trivial. Since my wife is fourteen years younger then me, in all probability the clearing of all the shop equipment will probably become her task. In the event of her passing before me, my niece is my executor. Maybe Rawhide Boy's Club.