With inheritance you're trying to balance very different sets of security. On one hand you probably want to be the only one controlling funds while you're alive, but if you die you want a switch to magically flip so that some other set of people can access the funds.

This is where multisig really shines in my opinion. You can distribute keys in such a way that executors don't have control of your funds, but can collaborate to recover funds in the event of your passing. We developed a pretty nifty user friendly inheritance solution at Casa that only takes a few minutes to onboard executors. The neat thing is that it doesn't rely upon the legal system. https://casa.io/inheritance

With UTXOs the main thing I caution against is withdrawing to self custody too frequently. Probably shouldn't do that more than monthly or you'll regret it many years down the road.