Yes, exactly. In fact, you'll need to do so periodically to prevent the timelocked transaction(s) from becoming valid, which would allow your heirs to take your bitcoins.
Just to be clear, there is no way to automatically transfer the funds in a reliable way. After creating the timelocked transaction, you need to give it to your heirs (or leave it in a place they can/will access) so they can broadcast it if/when the time comes.
Good info to know, it looks like this is a solution that can work for me. So from what I understand a timelocked transaction IS a transaction. Where does that transaction sit in my scenario? My ultimate goal is to have the transaction broadcast and move funds from an address behind my two factor passphrase to an address that is based on the same seed phrase, but not behind the two factor passphrase. In this case, would the transaction be time locked and sitting behind my two-factor passphrase waiting to be broadcasted? The reason I ask is because I would not want a malicious person to somehow get a hold of my 24 word seed phrase and then be able to unlock the timelocked transaction because its not behind my passphrase, or would such a transction be protected with the same level of security until the appropriate time has passed?