One often overlooked way to simplify estate planning while reducing stress is communication.
Communication involves planning, being proactive and being able to tell your family and friends what your wishes are in the event you become disabled or pass away. This sometimes includes family meetings so that everyone is on the same page. We find that communicating your wishes and intent during your life minimizes conflict when you pass away and is generally always a good thing.
Being in good health is a reason to cheer, and as a reminder, planning is always easier when you are in good health.
From our perspective and probably from the point of view of your family and friends, waiting to plan until you are no longer in good health may not be a good plan.