I was caring for a sick family member and he passed on the 1st of Dec 2018. I had possession of his vehicle and when he passed I contacted the bank

After family member passed i contacted the bank the car loan was thru. Explained to them the situation. They said when it goes in default then they will deal with picking it up but not til then. 5 months later car was stolen and I called the bank to c if it was repoed and was informed it hasn't been placed for repo it was then found and recovered a couple days later but the bank hadn't received a payment in nearly 6 months and never had it in default or up for repo and I am trying to figure out if since there was no will not any kinda document for after he passed what can I do to make the car legally mine as of right now I can't insure it still in his name nor tag it because of the insurance issue