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Distributions from a retirement vehicle (IRA, ROTH IRA, 401K) directly to trust or beneficiaries are not taxable in PA.
Scroll down to page 11, under Distributions from Employer-Sponsored Qualified Retirement or Deferred Compensation Programs - point 4.
PA is very generous when it comes retirement accounts. Distributions to beneficiaries are usually tax free, there may be tax on early distributions or distributions that don't follow normal distribution rules but that's not your case.
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One of the other experts pointed out the still existing PA inheritance tax. It is not state income tax and the inheritance will still be excluded from your state return. Inheritance tax is a separate tax charged by very few states. Inheritance tax return is filed and inheritance tax is paid by the representative/executor of the estate or the transferee if there's no executor, not the beneficiaries (unless the beneficiary is also the transferee)