New Jersey - Replacing Trustee

Decedent located in New Jersey. A lot involved in this very complicated situation due to a very poorly written will and the bad and irresponsible behaviors of some involved after a sibling passed. Putting that aside for the moment and cutting to the chase, the current Trustee has agreed to step aside. There are two primary beneficiaries, myself and another family member. There are also a slew of "remainder beneficiaries", inserted in the will as recipients in the event something happens to the primary beneficiaries and there is money remaining in the Trust.

Two questions: First, I am guessing the Trustee voluntarily stepping down is more straight-forward and quicker than going to court to remove him, but I honestly don't know for sure. Any tips or advice would be appreciated. Secondly, wondering if the "remainder beneficiaries" who don't even know they're in the will have to sign off on the new Trustee.

Like I said, very complicated situation with a lot of missteps -- court would be a field day and very, very expensive! Lots of suspected breaches, and the Trustee has basically admitted at least part of his failure as a fiduciary.