Andy, we paid no taxes when my Mum died when selling her property at £210,000 back in 2017. As for savings, if you have a little too much, start giving it away as i am doing. I give regular handouts and they just have holidays and buy cars with it. Much better to see them using this cash while they are youngish.
Take cash from savings in banknotes and just give it over. No trace left of where it has gone and if anyone asks, maybe you have a gambling problem and lost it.