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No, it is actually legal the court system is not supposed to allow people who have had judgments issued against them to then move their assets into a trust so it isn't touched! Also, a ton of legal protections expire when the person the estate is for dies and so much more is available to pay restitution to the families.
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But trusts live on. It is why he set up trusts. The ones you say are illegal.
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It is likely that because the judgment was still against him, the Goldman family will be able to lay claim to any physical assets of his which there will be plenty of. From there it is highly likely that the Simpson family will reach an agreement with the Goldman's over the value of things to pay off the judgment. Not to mention any sort of retirement account he might have had that would have been passed on to his kids would be subject to seizure as well.
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