Quick answer: once the small estate affidavit is approved by the county court, present it to the county tax assessor-collector's office along with the vehicle's title documents.
One affidavit, already approved, does the work
Still counts toward the $75,000 cap
A vehicle is a non-exempt probate asset like any other under this framework — its value counts toward the same $75,000 threshold as bank accounts and everything else covered by the affidavit.
Only when there's no will
Since the small estate affidavit is unavailable whenever a valid will exists, a testate estate's vehicle transfer instead runs through muniment of title, or through letters testamentary if full independent administration applies.
Where it's presented
The approved affidavit, along with the vehicle's title documents, goes to the county tax assessor-collector's office — the same office that handles ordinary title transfers.
A local probate attorney can review your estate — many offer a free consultation.
The county tax assessor-collector processes these transfers locally, whether the estate is in Harris, Dallas, Travis, or any other Texas county — the underlying statute and $75,000 cap apply statewide.