Self custody is a big issue for Bitcoiners...there is not a one size fits all solution, all the set ups involves pros and cons.
The two scenarios that I've in mind and I think they require different approach are:
Scenario 1: Having a system where the access to your funds are safe and no one but you could move the funds. This scenario covers for example a fire destroying your house, flooding,etc. You have a backup in another locations. (Seed in location A and passphrase in location B).
Scenario 2: Having a system that covers the situation of something happening to you. So, your heirs could access the funds. This, as far as I know, involves trusting someone with your keys or instructions about how to access them...or paying a company for a service as Casa, etc.
But, is there a good way for having total custody of your funds without trusting a third party while you are a live and giving access to whatever is left of your funds to your relatives when your time comes?
Please, share some ideas.