Bitcoin is not like our banks that your money can actually be passed down to a family member when you die. Bitcoin doesn’t work that way, if your family members don’t not know that you’re holding Bitcoin and if they don’t have your private keys or recovery data, your coins may be inaccessible forever.
Bitcoin is even better, no unnecessary protocols for next of kin to reclaim your funds. You only need to tell them where you're preserving your keys with instruction on how to recover the wallet and claim their inheritance. It is very essential you've at least a trusted family member(preferrably your spouse) that knows about your holdings and where to find the keys. It is also very important to give your successors bitcoin education and ensure they can use it for themselves in your absence.
Bitcoin is easier to share among your successors ans you can distribute the coins in their respective wallets and label the seed phrases accordingly with respect to who gets which.
As an investor who is saving for the future, after spending years accumulating Bitcoin gradually, only for you to lose access to it after death. In such cases Bitcoin stays exactly the same, but the keys to access it is gone.
It is bad when no one knows about your bitcoin acquisition, it is always better a trusted insider knows. I don't like the idea of involving third parties like lawyers, it is better treated privately.
2. When your Bitcoin is stored in an exchange
If you have your Bitcoins on a centralized exchange, it is possible that your family can reach out to the exchange and follow its inheritance procedures. But however, this actually depends on the policies and legal requirements.
If the exchange declares collapses and declares bankruptcy before it is recovered, then your coins is gone as well. Coins kept in an exchange is as much your own as the exchange is operational and releases it when requested. If your people cannot access it, the motive of keeping it is defeated. Self-custody remains the best