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Hi and welcome to JA. Ray here to help you today.Please bear with me a few moments while I review your question and respond.
You can do this with a quit claim to the others.You are the grantor to the others-grantees.Once filed any interest you have passes to them.
Quit claim forms
You will need the property description off the prior deed to parents.
Sign it in front of notary and file in the deed records.
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