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If they don't get bitcoin... they need to learn now, not after you die. I agree with Darth here. Teach them by helping them create wallets. If you have a lightning node set up wallets for each of them. I have done this with my family but they still have a lot of work to do. I think they could do it if something happened to me though.
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I like to keep things simple. I see multisig useful for a company's financial department, where the spending funds must be approved by multiple signers.
For my heirs... If they were not capable to get the sats from me while I am alive... it means they do not deserve my sats.
In fam:ly each member should have its own wallets and a LN node managed by the most knowleageable and distribute the spending budgets. Same node could be used also for common expenses. Compartimeluze as much as you can.