I'm sure that there are many ways in which stake holders can legally take care of their assets and legally ensure that their heirs get it.

Again, once ownership passes over from one person to another, the new owners who inherited the stake can use their newly inherited stake to cast votes.

If in the event that stake doesn't get claimed it will probably become "lost" as was described for the millions of dollars worth of BTC that is no longer accessible.

I dare say that I don't wish to get into the topics of how anyone manages their assets or last will and testament.

The link you gave seems rather interesting, I don't see a reason why one day "smart contracts" couldn't be done on our Steem blockchain to take care of things like that too!

;)