Does a person's car form part of their estate?

A relative recently passed away after an illness and in fairness they had most things in order switching all accounts to joint etc

However one thing overlooked was the car as herself and her husband both have cars. No mention of the car in her will.

Does the car form part of her estate and must go via probate or can it just be transferred into her husband’s name?

Thanks

Cars are listed in the revenue probate form SA-2

Had a similar situation with mother-in-law’s will. It’s part of the estate. We didn’t need to wait for probate before selling the car. The dealer who bought it accepted will as proof of capacity to sell.