After the mess I went through when my mom had her last stroke and was in end stage dementia, I made sure I did my estate planning last year. It covers the will, POA, DNR, Funeral Arrangements, Insurance, Bank Accounts, House, Cars and any and all other assets I have.
I have it set up so everything will go right to my son without probate or taxes. My lawyer gave me a card to give him with the instructions that when I passed, he was to call her and she would set everything in motion.
After the disaster with my mom, who would not make a will or do a POA because she didn't want anyone to be able to "control" her, the thought that he could have it all settled with a phone call was what motivated me and my sister to do the estate plan. (My sister doesn't have children of her own, so my son is her POA , etc. I always call her his other mother because she is very involved in his life, in a good way. LOL)
I had to go to court to get guardianship of my mom to make all her decisions for her once she wasn't able to and that entire process cost over $15,000 by the time it was done and we had her settled in a full time care facility. Estate planning was $900. Any way you look at it, that's a great deal.
I would definitely recommend doing at least a will, but if you have assets that you want to go directly to someone, doing an estate plan is a smart move.