How are you planning inheritance for self-custodied Bitcoin?

I’m trying to understand how people handle Bitcoin inheritance without giving a third party enough information to steal the funds while the owner is alive.

A will can say who should inherit but it cannot recover a lost seed phrase. A seed phrase shared too early creates a security risk. Multisig can reduce single points of failure, but it also creates a practical problem: will a non-technical heir know which keys, wallet configuration and recovery steps are needed?

For those using self-custody:

1. Do you have a documented inheritance plan?
   
2. How do you separate instructions from the actual keys?
   
3. Have you tested whether a trusted family member could recover the wallet without your help?
   
4. What part of the process feels most dangerous or confusing?

I’m building an open-source project around crypto inheritance but I’m deliberately not linking it here because I want honest feedback before promoting anything.
I’m especially interested in criticism from people who use hardware wallets, multisig or have dealt with estate planning.

What approach are you using and what do you think it gets wrong?