I'm not sure what your stepmother had you sign but you may have waived any rights you had in his insurance or other assets. You shouldn't sign anything before knowing what it is. You may want to hire an attorney to help you with this.
You can start by contacting the insurance company and asking them whether you are still the beneficiary of the policy. Better yet, ask your step mom what you signed and why she wanted you to sign it.
If you father is still alive, all you can do is ask him or your stepmom. If your father is passed, go to the life insurance company and make a claim. If the claim is rejected, you may have signed them away. If the claim is paid, you didn't.
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