Quick answer: if no executor or administrator has been appointed and none is expected, use DMV Form VSA 24 — who must sign it depends on whether there's a will, a surviving spouse, or other children involved.
Only when qualification isn't happening
With a will: every interested legatee signs
Each person named in the will who has an interest in the vehicle must be identified on the form and, if of legal age, must sign it — not just whoever plans to keep driving the car.
Without a will: it depends on who survives
If there's a surviving spouse and no children from anyone other than that spouse, only the spouse needs to sign. If there are children (or their descendants) from a different parent, those children must also be identified and sign. Where there's no surviving spouse at all, everyone with an interest in the vehicle must sign.
A family allowance claim simplifies it further
If there's a surviving spouse and the vehicle is included in a claim for family allowance, exempt property, or the homestead allowance, only the surviving spouse needs to complete and submit the form — regardless of other children.
Once someone qualifies, this form is off the table
VSA 24 specifically cannot be used once an executor or administrator has actually been appointed for the estate — at that point, the personal representative handles the vehicle transfer through the standard estate process instead.
A local probate attorney can review your estate — many offer a free consultation.
DMV processes VSA 24 the same way at any Virginia location, regardless of which Circuit Court jurisdiction the decedent resided in.