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If your family member doesn't have a title in their name to sign over to you, you cannot use that title to take ownership of the vehicle from them. When you apply for a title to a vehicle signed over to you, that generates a title document in your name. So if the family member never did that, they can't give you a car even if they have a title signed over to them. They would have to apply for their own title and then sign the title in their name over to you.
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