Quick answer: a vehicle is personal property, so it transfers under whichever small estate procedure already applies — typically Transfer by Affidavit, presented to the Wisconsin DMV with a certified death certificate. For larger estates, the personal representative uses their Domiciliary Letters instead.
The small-estate route
Since a vehicle counts as personal property, it's handled the same way as the rest of the estate under Transfer by Affidavit — the affidavit, once completed and notarized, is presented directly to the Wisconsin DMV along with a certified death certificate, rather than needing a separate specialized vehicle form.
It still counts toward the $50,000 cap
Whichever procedure fits the rest of the estate — Transfer by Affidavit, Summary Settlement, or Summary Assignment — the vehicle's value counts toward that same $50,000 threshold, the same as bank accounts or other personal property.
Marital property can simplify a jointly-titled car
If the vehicle was jointly titled with a surviving spouse, Wisconsin's marital property system may mean the surviving spouse already holds an ownership interest that makes the transfer considerably simpler than for a vehicle titled solely in the decedent's name.
Larger estates: Domiciliary Letters
Once informal or formal administration is open, the personal representative transfers the vehicle's title using their Domiciliary Letters as proof of authority — the same document a title company or bank would ask to see for other estate transactions.
A local probate attorney can review your estate — many offer a free consultation.
The Wisconsin DMV processes these transfers statewide — Milwaukee, Dane, Waukesha, Brown County, and everywhere else follow the same rules regardless of branch location.