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Did he owe you money on the car still?
Does he have any children, grandchildren, siblings, etc. in his family who are alive?
Ok, the problem here is that you have no legal right to the car. It is owned by his estate now, and only his heirs have a right to it.
So his heirs, the brother and sister, would have to file a Small Estate Affidavit with the court to be able to claim the car and get the title in one or both of their names. Then they could sell or gift it to you if they wanted to if he didn't have any debts that needed to be paid. If he had debts or final expenses, the car would have to be sold so that the money could go to pay the debts.
But legally, you don't have a right to inherit the car....only his family does.
I am very sorry that I don’t have better news, but please understand that I do have an ethical and professional obligation to provide customers with legally correct answers based on my knowledge and experience, even when I know the answer doesn’t make the customer happy...