What are good ways to ensure my bitcoins can be inherited by my family when I die or become permanently incapacitated?
I think there are probably two significantly different situations to account for, each with different requirements:
Hot wallet inheritability
I want my family to be able to inherit the bitcoins from my hot wallet, but I'm not worried about them stealing those bitcoins or monitoring my public transaction history while I'm still living.
Cold wallet inheritability
I also want my family to be able to inherit the bitcoins from my cold wallet, but I'd prefer a solution that prevents them from being able to spend the bitcoins while I'm still alive. If possible, I'd also like to prevent them from determining my balance while I'm still alive.
It is acceptable for the solution to require periodic activity from me, such as moving my bitcoins every six months. For example, your answer may assume that
OP_CHECKLOCKTIMEVERIFYhas become consensus-enforced, as that's likely to happen within the next few months---and I hope to live that long.
Because I tend to use strong encryption when available, assume that all my data will be lost at my death unless I've specifically backed it up for other people to use.
I use Bitcoin Core for both my hot and cold wallets (with separate wallet files), but solutions for other Bitcoin software are welcome.