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In this situation, an heir can simply file what is called an affidavit of heirship with the court. You may find this form on your state court website or through the court clerks office, or you may need to have an attorney or legal services firm create one for you.
Under Texas law, the affidavit must be filled out by two disinterested partiesindividuals who have no financial interest in the estate and are not heirs. These individuals must know the decedents family structure and history well enough to verify the heirs relationship to the decedent.
Although affidavits are considered legal documents, anyone can draft one. As long as it is signed, witnessed, and notarized correctly, the affidavit will be valid. This means that you do not need to ask a lawyer to create an affidavit.
To title and register a vehicle through heirship, you will need: Affidavit(s) of Heirship (Form VTR-262). If there is more than one heir, each of you must sign the form and have the signatures notarized. Heirs may fill out individual Affidavits of Heirship and must have each affidavit notarized.
An affidavit of heirship must be signed and sworn to before a notary public by a person who knew the decedent and the decedents family history. This person can be a friend of the decedent, an old friend of the family, or a neighbor, for example.
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The Texas affidavit of heirship form must be filled out and filed on behalf of a decedents heir and can not be completed by the heir. Instead, two disinterested parties who know the necessary details about a decedents family life need to fill out the form.
A valid Affidavit of Death requires the affiant to have personal knowledge of the deceased. Detailed identification of the deceased, the affiants relationship with them, and the reason for the affidavits execution should be clearly stated. Validation from a Notary Public is essential to certify its legality.

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