What do you mean by covenant? I am also looking at inheritance right now and it is not something easy to secure for non techies.
Discussion
I'm not that technical either. But if bitcoin would implement OP_CTV, OP_VAULT, OP_CAT you could define spending conditions for your UTXOs like to which address, the amount, the time.
For example I could choose to spend some UTXOs to a certain address at a specific time my son has the control of, but if I do a self spend before that date the UTXOs will still be in my control. But if something happens to my, he would automatically get the UTXOs.