should I set up an irrevocable trust?

I have 10 million in retirement account, 2 million in regular account---- all in stocks. 

another 10 million in rental houses, the rent covered all mortgage and more.  I am 61, plan to retire next year.  only one daughter who made around 150K a year.

I see many experts here.  please give me some advices.  I am planning to do some research, should I start with a lawyer or CPA or financial planner?

Thank you so much.  company computer not letting me to type chinese.