Best to talk to a professional (which I am not!) but each parent can "gift" something like $11 million so it should be as simple as paying fees to transfer the title. At least at the federal level... I have no doubt New York state and likely the county and local folks will want their cut!! I assume NY has a death/inheritance tax.
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2021 X3 M40i
1974 2002tii, Inka, 5 sp manual
BMWCCA # 327475

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