This page on the US House website has examples of familial relations of persons who succeeded a member of congress. There is a short section on Daughters Who Directly Succeeded Their Fathers in Congress.
Of those, former US Senator Frank Murkowski was Governor of Alaska when he appointed his daughter Lisa Murkowski to the US Senate. The appointment was upon Frank’s resignation from the Senate to become the Governor of Alaska. Lisa has gone on to be the second most senior female Republican Senator. So not exactly a death, but a daughter being appointed to fill out her father’s term of office.
Lucille Roybal-Allard won a special election to fill her father’s seat in the US House after his resignation to become the Borough President of Staten Island, so not an ascendancy by appointment.
Similarly Winnifred Sprague Mason Huck won her seat in the House by special election. She filled the seat left vacant by the death of her father.
In a quick search I could not find details on how Rep. Lucille Roybal-Allard initially gained office so I’m unsure if it was by appointment or election.
I don’t know for Arizona. “What’s their party?” is a real issue for states that implement those kinds of laws. It’s one of those things that sound good but can be hard to actually make work well.
And McCain almost certainly knew this, and chose to not resign — I stop short of saying ‘certainly’ because I cannot find a cite right now, and we can surmise almost with certainty that a man of McCain’s stature and knowledge had to know what would happen. And he acted accordingly.
Let’s not forget how John Ashcroft in 2000 lost a senate election against a dead man.
Jean Carnahan, the widow, was appointed to fill the spot won by Mel Carnahan, who died in a plane crash during the election campaign too late to change the ballot.