This is the most straightforward method. You can visit a Texas DMV Regional Service Center in person for same-day service or apply via mail using Form VTR-34 for approximately $2.
Many local companies offer cash and free towing, though they often require proof of ownership and may offer lower rates for title-less cars. Cash for Junk Cars San Antonio (Texas) - USJunkCars
Licensed Used Auto Parts Recyclers (UAPRs) may purchase vehicles without a title if they are at least 13 years old and haven't been registered for at least 7 years.