You can do it before you die if you want to do that. They're not much helped by you sitting on it until you die.

That's one of the biggest takeaways - if you're an average American with average retirement, you will die in your 70s and 80s and your children will inherit ... just before their retirement, likely.

So instead of waiting to die, give it earlier when it helps more; or give to grandchildren.

Of course, but it's best to do both if possible.