To avoid the probate process entirely, you could jointly hold property with your heirs- with Rights of Survivorship. When property is held jointly with Rights of Survivorship, your share is immediately transferred to the surviving owner upon your passing.
You could also choose to hold bank accounts with Payable on Death or In Trust For designations. With Payable on Death or In Trust For designations, the bank will pay out the proceeds of such an account directly to the designated individual.
Further, investing in Life Insurance policies or other financial assets with beneficiary designations, ensure that your loved ones can receive the proceeds of that life insurance or retirement account without having to go through probate.