You need a will, always. Even if your bank accounts and brokerage accounts have a beneficiary and your real estate is in a trust or has a transfer on death deed and your vehicles are titled jointly with someone else, you need a will. Otherwise there is not a way to distribute your socks, underwear, well your computer and other material things. Without a will no one is obligated to bury you or cremate you, so your ashes may be tossed on the potter's field. If you die in an accidental death situation your estate may get a settlement on your behalf. There is not a way to transfer that to who you want to get it. A will wraps up the loose ends.
You can avoid probate by having a small estate without real estate and no one to fight and challenge anything. Or have the real estate titled to allow transfer without probate--joint tenant, transfer on death. I will warn you to be wary of using a transfer on death deed unless you specifically determine how the title companies regard that form of transfer in the state where the property is located. I received property in CA under a transfer on death deed and many of the title companies were a royal pain. They wanted to go through a mini-title company directed probate. So I had to 'prove' that all medical bills were paid (impossible as how do I know when 'all' have been submitted to the insurance and processed? NOONE would talk to me about a dead person's medical bills. How do you know who the patient saw in the hospital, there were many, many doctors and others billing from the hospital.) I had to show all credit card, utility bills, etc. were paid. Same issue with these entities talking with me, even when given a death certificate. So I really recommend you talk to a title company about what your heir would need to do to sell the property with title insurance after your death if you use a transfer on death deed.
The cost of a simple Trust should not be that high. I paid $3500 for me--one person. They also did the quit claims to transfer all property into the Trust and set it up to include a special needs Trust within the main Trust for a special needs kid I adopted. The next Trust I got cost $550, yep less than $1000 and holds other properties with similar structure, but more investment focused. It would be more if you were married. And my prices also included a medical POA and will.
Even though the cost is similar to what one would pay for a simple probate, a Trust has other advantages. Your heirs do not have to go through probate. Probate can take months to years, which in some cases, leaves property subject to vandalism and rentals mismanaged. It can cost a lot with a complex estate such as several properties in different locations. Others can not challenge a Trust as easily as probate. Trusts are private. Probate is public. It allows you to control how the assets are distributed, like some at death, but some at age XX, or some for education, or some for medical bills. It can prohibit the money from being used for other things such as can not be used to pay for court ordered fines or lawsuit settlements or divorce proceedings, including attorneys. It can have restrictions such as has to be drug free to get a distribution or should the beneficiary decease prior to the assets being fully distributed the beneficiary's share passes on to the beneficiary's blood or legally adopted children. The beneficiary's share can not be passed to a spouse or step child. Trusts keep beneficiaries from co-mingling the assets as some beneficiaries do not understand that co-mingling an inheritance makes it community property in many locations.
So shop around for prices, get a trust and a will!