Private Key Management and Crypto Inheritance Planning

How does the average person solve the "$5 wrench problem" / prevent rubber-hose cryptanalysis? What is the easiest way to do a multi-signature or multi-factor set-up? Could timelocks and smart contract solutions be used for inheritance issues? According to Andreas Antonopoulos, a technologist and serial entrepreneur, the technology and educational resources around key management need to mature first. There needs to be a pragmatic balance between legal and technical plans, with human-based processes and controls, he says and urges to take an entrepreneurial perspective in order to help overcome the barriers to adoption.