Yes, that will allow the will to be probated sooner and without a hearing. You should get a copy of the will with the Waiver and if the will leaves assets to you, you should sign it.
You have 6 months to file a claim or to contest the will if you want.
Trusting is complicated. President Ragen used to say trust but verify, and so should you. get a lawyer and see what is in the estate.
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REtain your own lawyer to counsel you on this issue.
Legal disclaimer: This answer does not constitute legal advice. I am admitted to practice law in the State of Missouri only, and make no attempt to opine on matters of law that are not relevant to Missouri. This answer is based on general principles of law that may or may not relate to your specific situation, and is for promotional purposes only. You should never rely on this answer alone and nothing in these communications creates an attorney-client relationship. less