What do I need to do to get a new title for my car and how much does it cost?

I don't have a direct answer for you but being that it seems that no one is willing to respond I thought I offer a suggestion. The DMV has a direct link on their page for you to ask questions directly to them. Here is the link, I hope it works: https://elledmv.com/elle-dmv-locations/independence-mo-dmv/

Can you just walk in or do you need an appointment? Can you apply for tag renewal online

you will need to file for a lost title, the price is $11 in total

There aren't any appointments. You just go up and wait in line. Be prepared for the weather on the day you go because when I went a few weeks ago I waited in line for almost 2 hours before getting in the line inside. Luckily it wasn't too cold that day.