Actual tax, payable, by the heir? Almost never.
Tax might be payable on any super that is remitted to the estate.
But that's a debt payable by the estate, not by the heir.
And the super fund should handle it, so that the money is "free ad clear" in the excecutor's hands.
If the heir is a Centrelink client, who inherits a big block of cash*
then it still be can be relevant to
some people's Centrelink benefits, some of the time.
In Centrelink lingo, it's called a"non-remunerative lump sum".
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* say for example, the plain old cash in the deceased's bank account. or
the proceeds of, say, selling the deceased's house, or
receiving the balance of their superannuation account