Joseph died about 1870 in Missouri, United States aged ~36.
Sources
Residence at Age 17. "United States Census, 1850," database with images, FamilySearch (https://www.familysearch.org/ark:/61903/1:1:MDZ8-J15 : 22 December 2020), Joseph Kesterson in household of John Kesterson, Washington Township, Lafayette, Missouri, United States; citing family , NARA microfilm publication (Washington, D.C.: National Archives and Records Administration, n.d.).
1860 Census: "United States Census, 1860" citing Page: 11; Affiliate Publication Number: M653; Affiliate Film Number: 628; FHL microfilm: 803628; Record number: 6139; FamilySearch Record: MHZW-CQP (accessed 1 August 2022) FamilySearch Image: 33S7-9BS4-YY6 Image number 00167 M Kesterson (26) in Sni A Bar Township, Lafayette, Missouri, United States. Born in Missouri.
Memorial: Find a Grave (has image) Find A Grave: Memorial #80708082 (accessed 1 August 2022) Memorial page for Joseph D. Kesterson (1834-1870), citing Sunset Hills Cemetery, Boonville, Cooper County, Missouri, USA; Maintained by Kathy Margrave (contributor 46545595).
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DNA Connections
It may be possible to confirm family relationships with Joseph by comparing test results with other carriers of his Y-chromosome or his mother's mitochondrial DNA.
However, there are no known yDNA or mtDNA test-takers in his direct paternal or maternal line.
It is likely that these autosomal DNA test-takers will share some percentage of DNA with Joseph: