Advice on selling a car

[rgG]

I finally have all the paperwork I need to execute my husband's will/estate.
I want to sell his car. Neither I nor my daughter need it.
I have gotten online quotes from Carvana, CarGurus, and some others and I also got an offer from the dealer where he bought the car.
The car is a 2014 Audi A4. It has roughly 69,000 miles and is in very good shape, except it will probably need a new battery for whoever buys it.
Carvana has the highest offer, by a lot. They are offering roughly $16,700. The dealer and all the other quotes I got are around $11,500-$12,750 (from the dealer). Seems like a no brainer, sell to Carvana, but there is a hitch.
Carvana's site says the car cannot be sold to them unless the title is in my name. I cannot just sign it as the executor of his estate, which means I would have to have the car retitled, taking 2-3 weeks, and also pay 1/2% of the value to get it retitled. I don’t know how much exactly that would be, but let’s say $100 or less.
The other option is to try for a private sale, which I was trying to avoid, but maybe I should reconsider.
I am wondering why the Carvana offer is so much higher than 3-4 other offers and if there is some catch or some reason the deal wouldn’t happen.

What do you guys do when you need to sell a car?