[Serious] What is your plan to pass on your crypto in case of death?

As my crypto holdings get more and more significant per day, I worry about what will happen in case of an accident, or death. What steps have you guys taken in order to secure the money for your family in case of death? Is it possible to setup such a system without trusting a third party with your funds? I have taken a look at some crypto inheritance services, and most of them require either using their service to hold the crypto, or access to your seed phrase. I've also taken a look at some other methods like bitwarden's emergency access feature (https://bitwarden.com/help/emergency-access/), but I'm conflicted on whether its the correct way for seed phrases.