I have found that the Department of Motor Vehicles tends to be helpful and flexible when it comes to title transfer of vehicles in small estates. I suppose they do not want unregistered, uninsured, and unlicensed vehicles on the road. Take the death certificate, will, and perhaps an agreement signed by all of the heirs at law to DMV.
If they cannot help you, then Florida has several types of procedures for smaller estates. Your scenario may even qualify for disposition of personal property without administration, depending on the value of the assets.