That is out of date information. It was intended to work that way when the game guide was written however, as this is a game in development things change. Your heir can now age, but you can also change who that heir is and have heirs at a more suitable age. They also slowed down the passage of time a bit and reduced the likely maximum ages so there will not be so large a gap.
There is more about the current system in this Developer Journal - Down the Rabbit Hole.... The part about aging, children, marriage and inheritance is under the design sub-heading.