Is it permissible to pay Zakat for past years from the inheritance after the death of the testator who did not pay it during his lifetime?

Whoever has not paid the zakat on their wealth must repent to Allah and hasten to pay what is due from them in zakat before their death, especially if they are ill, because it is one of the pillars of Islam, and abandoning it is one of the grave sins. If they are unable to do so, they must make a will for it. If they do not make a will, then their heirs must pay it from their estate, for the Prophet, peace and blessings be upon him, said: "Allah's debt is more worthy of being paid."