There is also a chance of having most of this features available in Onekey devices, but their devices is not something I would recommend.
You can also check out Krux code with Maix Amigo devices, this is the cheapest DIY option.
Full list of open source HW signing devices with links can be found in one of my topics:
https://bitcointalksearch.org/topic/list-open-source-hardware-wallets-5288971
You can also use Nunchuk wallet with hardware wallets to achieve what you want.
List of wallets that have inheritance feature can be found here:
https://thebitcoinhole.com/inheritance