The Ruling on a Grandfather Waiving His Share of His Son's Inheritance for His Grandchildren

Question
A man passed away and was inherited by his parents, then the parents waived their shares to their grandchildren, who are the deceased's children, before the Sharia judge. Is their action permissible?
Answer

I say, and with God's guidance: This money was acquired in a rightful manner, and they have the right to dispose of it in any way they wish, so it is permissible for them to donate it to their grandchildren, and God knows best.

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