Quick answer: one car, worth $25,000 or less, no will or Letters yet — use Form MV-349 (or MV-349.1 for a spouse or minor child). More than one car, or a pricier one, needs Surrogate's Court authority instead.
A single, modest car skips the court entirely
A second car, or a costlier one, changes everything
As soon as there's more than one vehicle, or a single vehicle worth more than $25,000, the vehicle becomes part of the estate — MV-349 and MV-349.1 can no longer be used, and Surrogate's Court authority is required instead.
A Voluntary Administrator's affidavit works here too
For DMV purposes, a Voluntary Administrator's affidavit from the Surrogate's Court can serve as the authority needed to transfer a vehicle — the same role Letters Testamentary or Letters of Administration would play for a formally probated estate. The executor or administrator signs the title, writing their fiduciary capacity underneath (e.g., "Executor of the Estate of [decedent's name]").
Sales tax paperwork rounds out the file
Beyond the authority document, the DMV needs a copy of the death certificate, the original title, and proof of sales tax status using Form DTF-802 (if tax is owed or the vehicle was gifted) or Form DTF-803 (claiming an exemption).
Out-of-state titles need an appointed fiduciary
MV-349 and MV-349.1 can't transfer an out-of-state title held in a deceased owner's name — either the new owner titles the vehicle in the other state, or an executor or administrator must be formally appointed.
A local probate attorney can review your estate — many offer a free consultation.
These DMV rules apply the same way whether the vehicle is registered in Manhattan, Brooklyn, Queens, or anywhere else in New York State.