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Does she need to go with me to the tax office? Or do I just get her to sign the form and take them both there?

Warning - Dumb question follows.

The recent Houston flooding managed to total my car, and I am looking for a replacement. I have a friend who is getting ready to trade in her 2017 BMW X5, and she will sell it to me for whatever they offer her, which I suspect will be too good to pass up.

From past memory when I gave a vehicle to my Brother in law (5+ years ago), I remember it being a real hassle to get the title transferred over. I had to write a letter, and get a bunch of stuff notarized, etc. So my question is what documentation should I complete on this transaction? If it matters, I'll be paying cash, and I completely trust the friend that I will be buying this vehicle from. I believe that she does not have it financed (it's paid in full on her end).

Is a simple bill of sale enough?

Will I need her to sign any other forms to get the title transferred?

Thanks in advance!