Is it permissible to use haram insurance money for temporary personal benefit out of necessity, with the intention of returning it after selling other properties?

Commercial insurance in all its forms is forbidden due to its inclusion of usury (riba), gambling (maysir), and excessive uncertainty (gharar). A Muslim should avoid it as much as possible. However, if one is forced into it and compelled to engage in it, they are entitled to an amount equal to what they paid, and they must dispose of any surplus in charitable ways.

As for the transfer of money earned through forbidden means, such as money gained from insurance (usury, gambling, and excessive uncertainty), to heirs, the sin falls only upon the one who earned it. The evidence for this is the Prophet Muhammad's (peace be upon him) dealings with the Jews, buying and selling with them despite their consumption of usury. Therefore, if money earned through forbidden means is transferred to the heirs, it becomes permissible for them. This is the view of the Malikis and was favored by Sheikh Al-Uthaymin (may Allah have mercy on him), because they acquire ownership through a permissible means, which is inheritance.

Hence, the money paid by the company should be distributed among your brother's heirs according to their prescribed shares, and you may seek permission from the rightful owners to borrow or benefit from it.