https://www.youtube.com/watch?v=UPJqGd8yM60

There are legal ways us commoners can do it. Set up an LLC as general partner in an LP, with children as limited partners. Gift the IRS maximum allowable amount from the LLC into the LP each year. By the time you die you will have gifted all but the remaining 2% of the asset into the LP - tax free. You'll pay taxes on the last 2% that transfers upon your death - effectively paying less than 1% inheritance tax.

There are other ways as well. It's possible - we just have to learn and use the rules to our benefit.