Absolutely.
Because your conception of "earned" is coming from the wrong angle. This is more about the rights of the person who earned the money to leave the entirety of their savings to their family, not really the right of their family to receive money.
And the concept applies to issues beyond death. Over here, parents often contribute significantly to the college education expenses of their children even when they are legally adults. The concept that a parent-to-child donation like this -- or during any stage of life -- should be taxed is odious to me. I'm going to pay for my kids education.
That's actually a worse idea.

It means that no one besides corporations can accumulate long-term assets. It would also roil stock, housing and mortgage markets because people would be forced to sell assets all the time to pay the government taxes whenever someone dies. In countries with age structures like yours, it would lead to a slow acceleration of sell-offs and a pretty rapid degradation of capital stock.
To answer some of your other questions, our estates are actually taxing the dead estates, literally. As in, the recipients of an estate don't get taxed directly. The estate is taxed upon death and the remainder is distributed to the heirs. So someone leaving behind $10 million for her five children
doesn't have $2 million packaged for each kid who then pays a tax. The whole $10 million is liquidated, taxed for estate taxes + capital gains, then the remainder is distributed. Given the tax rates it makes a massive difference in the amount of money given the various tax rates.
I find your deep-seated suspicion of parents and children saving for each other to be...sorta strange. This is what families do for each other. If my parents somehow aren't able to leave anything to me and my siblings, we would be fully expected to support them in their later years and we wouldn't question that except maybe if our parents were horrible or financially wasteful people. But this whole issue of intergeneration support and wealth transfer isn't an alien concept.