1st of all, get stuff done as soon as possible. We never know when it's our time and fighting in probate court along with making decisions after losing a loved one sucks.
Find out where they want to be (cemetery wise)
Find out if they want a DNR
Look into POD (payable on death) accounts for banking etc and TOD (transfer on death) for real estate or securities.
Those are the cheapest to set up and don't require probate court.
Doesn't sound like you need to worry about estate tax. This year there is none anyways. Starting next year it's 55% on all assets OVER one million. So the first million in tax free. Doesn't sound like they need a trust. Trusts can be awesome, but for the average person it's a waste of money.