Quick answer: present the small estate affidavit, a certified death certificate, and the vehicle title to the county DMV.
One affidavit, presented to the county DMV
The vehicle's own value never counts against the cap
Motor vehicles are excluded from the $100,000 calculation entirely, so a valuable car doesn't push an otherwise-qualifying estate over the threshold — a genuinely generous rule compared to states where the vehicle simply gets its own separate, but still capped, affidavit.
Full probate uses Letters Testamentary instead
For estates that go through formal probate, the personal representative uses Letters Testamentary, issued by the Circuit Court, to authorize the title transfer — the DMV will require the letters, a certified death certificate, and the existing title before issuing a new one in the heir's name.
Joint tenancy skips the whole question
Vehicles held in joint tenancy with right of survivorship pass directly to the surviving joint owner upon presentation of a death certificate — no probate or small estate affidavit needed at all.
A local probate attorney can review your estate — many offer a free consultation.
Each county's DMV processes this affidavit the same way, regardless of which judicial circuit would otherwise handle a formal estate.