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HelloThis is Samuel. The incarcerated heir can assign a limited Power Of Attorney to someone they trust. The Limited POA can specifically assign that it is to open a Safe Deposit Box. HERE is a LINK for such a POA. The incarcerated heir only needs to sign it in front of a Notary. The facility where they are incarcerated should have a Notary on site and the incarcerated person can have their case manager assist in locating the Notary.
Once the assigned POA has the document, they can take it to the bank and the bank should allow the access. They will need to see the original and the bank can make copies.
Please let me know, if you have other questions in this regard. Otherwise a positive rating ensures I get credit for my time and information. Thank you.