I am also a USAA member and have Home, auto, other property, banking etc with them so just decided to go with them for life (30 yr term). They are a bit higher than other companies and I am in the top category for health, as I called and asked as a followup.
My father has MS which I disclosed to them but this didnt seem to impact my rate. Other than two grandparents dieing as a result of lung cancer (both heavy smokers till their last days), we have no other family history.
