Hey, Abe! I thought of you when I read this recently. It was some random article that popped up when I should have been sleeping (like now, lol). It pointed out that delaying RMD's could actually result in more taxes being paid. I'm not sure it will matter much if their remaining funds are earmarked for charity, but I thought it was an interesting point.
In our own case, .I'm wondering if we should start taking RMDs now and delay Social Security. Sometimes I think it's just as difficult to sort all this out as it was getting to FIRE. MPP for sure.
ETA: I had to come back to say I'm sorry you finally got Covid. It's kind of miraculous it didn't catch you sooner. I hope you've made a full recovery.
Everyone needs a good CPA near retirement: it becomes a game of paying the least amount of taxes possible by making educated guesses about income, future income, asset returns, and allocations.
E.g., it may well make sense to do smaller early withdrawals (not before retirement age/penalized) so that you avoid the big whack of RMDs once they hit, which can push into higher brackets and cause all SS to be taxed as well. There's just no one-size-fits-all solution to the complicated issue of taxes, and that's the #1 place many retirees can save by proper planning, so you really have to go see a CPA and see what you can do by planning out various scenarios.
One other thought, Abe: if your parents know that they want to allcoate some amount for charity, they could always put it in a Donor Advised Fund in order to take the deduction from income now and give it out later. That makes sense the more they're planning to give (and you can always under-shoot by putting less in there now than you think you'll ultimately want to). Just a thought; it might save them from paying income taxes on it / RMD issues if they're just going to turn around and give it away. I would consult a CPA about it.