If you know the information on the policy, you can contact the insurance company directly. They should send you the paperwork to make your claim. If your step-mom tries to claim the death benefit, they typically will send a separate check to each beneficiary.
If you know the name of the insurance company you can contact the insurance company, provide them with a death certificate and they can find the policy.
Assuming she has the policy, you would have to sue her. If she claims she does not have the policy, if you know the company that is the insurer, then they may have an alternate solution.
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