If this is a thing you are concerned about (how to leave stuff to your kids), please consider a living trust. My parents did this and when they passed, their estate was divided among their 6 kids (almost) without any hassle at all. No taxes, no squabbling, nada.
A "trust" is a way of owning stuff. It is a 'shell', so to speak, into which all the assets (money, retirement, personal and real property, etc) are placed. The trust "owns" the property. The owners of the trust then control the trust. When they die, the control passes on to the trustees (in this case, myself and 2 sisters).
It takes a few hours to set up; the services of an attorney is advised. After they died, the atty came out and sat with us 3 trustees and discussed it; this service was part of his setup fee.
I bless them for doing this for us. So many people just won't consider their own mortality, and cause an immense mess when they die.