Quick answer: use the same small estate affidavit that covers the rest of the estate, then bring it and Form 10-381 to the OMV for a $10 title transfer fee.
No dedicated vehicle-only affidavit, at least not yet
The OMV's own title transfer paperwork
Form 10-381, the Vehicle Registration Application, also serves as the title application in Arkansas — submitted along with a $10 title transfer fee and any required lien release documents.
The vehicle counts toward the same $100,000 cap
A vehicle is personal property like any other asset under the small estate affidavit, so its value counts toward the same $100,000 combined threshold as bank accounts, other personal property, and any qualifying real property.
No estate ever opened? An heirship affidavit can still help
An heirship affidavit establishes who the heirs of a deceased person are and their right to specific property, including a vehicle, and can be presented alongside the title documents even when no formal estate was ever opened.
A local probate attorney can review your estate — many offer a free consultation.
The Arkansas OMV processes these title transfers the same way statewide, regardless of which county's Circuit Court would otherwise handle a formal estate.