Will having a revocable trust avoid challenges by my beneficiaries or heirs?

Not necessarily.

Disgruntled heirs or beneficiaries can challenge the validity of a revocable trust on the same legal grounds as those available for challenging a will. It may be claimed that a revocable trust is invalid because the grantor was incompetent or unduly influenced by another person to establish the trust.   

Scott Swier
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Founding Member, Attorney At Law