5 or so years ago now, my parents drove here to give me their ~8 year old Honda (it's still going strong). My dad was the only name on the title, and the RMV let me register it in Mass in my name without any taxes. It still ended up being a snafu because Dad wrote the mileage down wrong on the title so we had to get a notary to sign off on it. A very helpful lady at the RMV ultimately got us all set on the family transfer, probably helped along by the fact my dad and I have the same last name and sort of the same face.

TLDR just find that one super helpful lady from several years ago at the RMV and you'll be all set.