At a minimum set up a revocable family trust. My understanding is that irrevocable trusts are really only beneficial for those with 8 figure net worths that are subject to estate tax.
Transfer property title into it and attorney will advise how to vest bank/investment accounts (in the name of the trust or personally with beneficiary designations).
A few grand for a revocable trust will pay dividends to your beneficiaries in both cost and effort when the time comes – definitely worthwhile.