Quick answer: use the Legal Heir Affidavit (DMV-185-TR) with a death certificate when there's no will and no administrator has been appointed.
A dedicated affidavit, straight from the DMV
No will, no appointed administrator
This affidavit is specifically for the situation where there is no will and no administrator has been appointed — a straightforward path when the estate never opened formal probate.
A different form entirely for a gift
If the car is instead being gifted to a family member rather than inherited, a separate notarized form, the Affidavit of Transfer of Ownership Without Consideration (DMV-5-TR), applies instead — not the Legal Heir Affidavit.
Joint titling skips the affidavit question
A surviving joint owner already listed on the title can generally handle the transfer directly, without needing the Legal Heir Affidavit at all.
A local probate attorney can review your estate — many offer a free consultation.
The West Virginia DMV processes the Legal Heir Affidavit the same way statewide, regardless of which county's commission would otherwise handle a formal estate.