The Affidavit of Heirship form you mentioned is more of a backstop. It is available to be used after your death if you have done nothing and leave the car in your name, with no beneficiary named.

To have your car pass to your daughters you would either need to use a will or a form called Affidavit of Heirship for a Motor Vehicle. By Ronald Lipman, Business Columnist Jan 17, 2023.

An Affidavit of Heirship, then, can be binding or nonbinding, admissible or nonadmissible, and reliable or unreliable. Advertisement. Glad we got that cleared up.

I have found two forms that might be the correct forms: Beneficiary Designation for a Motor Vehicle (Form VTR-121) and Affidavit of Heirship for a Motor Vehicle (Form VTR-262).