Estate planning and retirement planning are not separate things. If they are done properly, you will do both at the same time.
People often think of retirement planning as saving for their own financial needs, when they are no longer working. They also think of estate planning as something different, simply planning to distribute whatever is left over when they die.
While things can be done that way, it is better to think of the two things at once, so your plans complement each other.
If your estate planning attorney and financial advisor work together, then both your retirement and estate plans will work better for you.
You will have a comprehensive plan, as TD Ameritrade discusses in "Estate Planning: Build Up, Draw Down, Distribute Balance."
A comprehensive plan helps determine how you are going to build up your account balances to have more than enough money for your retirement. It also makes sure your assets are held in the best possible way for your future estate.
The plan takes into consideration how you will draw your assets down during retirement to make sure you leave something for your heirs, if that is your decision.
Finally, the plan determines the best way for you to pass the remainder on to your heirs.
If you do things properly, then you will have enough for your needs and your heirs will have plenty after you pass away.
If you would like to get a comprehensive estate plan, then talk to an estate planning attorney about how to make sure your retirement plans complement your estate plan.
Reference: TD Ameritrade (July 19, 2017) "Estate Planning: Build Up, Draw Down, Distribute Balance."