Originally owner owns the car and since they have passed , the family will gain possession. Bmv has to mail letters and go through the process that takes about a year for you to get a title. And that's if the family doesn't want it or doesn't respond to the Bmv letters from the clerk of courts. Easiest thing is to part it, sell it without a title, scrap it up into pieces.
Since you don't own it none of those are what we will exactly call legal no matter how it came to be in your procession