The Gemara in Avodah Zara has a Baraita on daf 10 amud a that clearly states that it is best that sons succeed fathers as rulers. Later on in that sugya Antoninus, who is known to secular historians as Marcus Aurelius, wanted to have his son succeed him as Emperor. That son, known to secular historians as Commodus, did succeed Marcus Aurelius, which was almost unheard of in Rome. Commodus was an absolute disaster as Emperor and most secular historians date the beginning of the fall of Rome to Commodus’ reign.
This should come as no surprise to anyone who has read Sefer Melachim. Abarbanel saw this and it is surprising that so many others have not.