Legacy Contact

You will have to ask Apple if they can do that. This article provides country-specific Apple Support contact information for customers seeking help with their Apple ID password or other security-related issues. ➞ Contact Apple for help with Apple ID account security - Apple Support

If not, for information about how to request access to a deceased family member's Apple account data, and possibly their equipment, click here --> How to request access to a deceased family member's Apple account - Apple Support

No. The Family member should have shared the Access key with you either physically or via an iMessage.

If you accepted the iMessage to become the legacy contact, the Access key would be stored in your Apple ID, and can be accessed from the Apple ID settings on your device.

If you don't have access to the access key, then then only option is to take the devices to Apple with a death certificate and a will stating you are the recipient of said devices.

click here ➜ How to add a Legacy Contact for your Apple ID - Apple Support