Parent Is Leaving Me Their House But Family Member Is Living There That Will Need Evicting

Location: Delaware
My father lives in Delaware and is leaving his house to me when he passes. He owns two, and one is going to my brother and the other to me. The complication is that his second home, the one I am inheriting, has another family member living there. They've been living there rent free for close to two decades. The original handshake arrangement was that they would pay my father rent but they have not and he doesn't have the heart to evict them.
From my family member's past (and current) behaviors, I highly suspect drugs are involved, plus all the signs of people coming and going, multiple cars parked there daily, and his "friends" living with him, some of which who are wandering onto my father's property as he lives a street over.
As the sole owner of the house once that time comes, what steps do I need to do to get ahead of this? Part of me wants to charge him rent in a legally bound contractual way, but given his track record, I think evicting him is the safest thing to do, but I am not sure how to go about it correctly. I also live in a different state (Virginia) if that adds or changes anything. Thanks!
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