Debt is not inherited. But can a lender ask their money back from the heir out of their inheritance if estate is not settled before asset transfer?

This is a question to lawyers.

I know the legal heir does not inherit debt. But debt is supposed to be disposed off from the deceased's estate. However, in India, estate management is very rare and hence, the heir usually inherits all assets without paying off debts.

In such a case, can the lender take the heir to court to recover debt amount from their inheritance? I know the heir's own assets are safe.

Edit: Question pertains to unsecured loans only.