>DMV is defintlely not going to give legal advice on how to settle an estate.

Probably not but I'd definitely start there before spending money on a lawyer. Besides OP isn't looking for advice on how to settle an estate, just want to know options on getting rid of a car that's titled to a deceased person. If DMV can't help the only thing lost is time spent on the phone. In the county I live in we have a very good DMV that falls under the tax office.