If you know the license plate and last 5 digits of the VIN you can check here for how much in registration fees is past due - https://www.dmv.ca.gov/wasapp/FeeCalculatorWeb/renewalForm.do

There’s an option to do a transfer without title but you’ll need the owner of record for that.

If you’re taking it out of state, it’s a matter of what documentation that state’s DMV will need. Maybe a notarized bill of sale is sufficient.

Sixto
98 E320 wagon
02 C320 wagon