Has anyone gone through this before? Parents passed away and of course we cannot find the titles.

There are multiple beneficiaries. Is there a way for one of the beneficiaries to request the title? We are just going to sell the vehicle once we have the title, and just want the simplest way to get this over and done.

Is there any way around all this hassle? :-/

this might help

https://www.txdmv.gov/sites/default/files/form_files/VTR-262.pdf

if not, probate

Just went through something similar but not 100% there isn't a better/easier way.

You will need the legal documents passing ownership to the beneficiaries and the a new title will be issued in all of their names and all of the beneficiary will need to sign the title when you transfer with the sale.

Luckily Dad signed a stack of lost title forms before he passed

That and a copy of his dl will get you the title through the mail.

We did that with a boat a couple years ago and it was a nightmare.

Bought a 16ft lowboy-no title or license plate from a buddy whose dad passed several years ago. Did everything I was asked to do ( auto task force looked at it) and no luck.
Thieves make an honest person have to jump hoops and do…. Well still working an angle but it has been a nightmare.
Boat title is worse.
Good luck