1099-R Beneficiary versus Inheritance

Big difference in the approach.  Mom passed in 2021 and my brother and I were beneficiaries of an account.  Disbursement were made directly to each of us and we each withheld taxes.
Q:  As beneficiaries, is it inheritance?  Is there a difference in terminology to the IRS? 
If I put "yes" to the "inheritance" question, it asks who died and when and the taxes apply.  If I put no, because I was deemed a beneficiary, the taxes do not apply.

Anybody?
TIA