Was in the exact same situation:
1. Transferring to legal heir after demise doesnโt show as an additional owner. In my case my dad was the second owner and the RC had wrong info. They wanted my father to fix it first before transfer ( dad was already dead by then). Hence i couldnโt get it done via the legal route
2. RTO is pretty corrupt dept. You can get anything done by paying a price. Most likely you just have pending challans. Robbery might have been an at the moment addition to get your attention.
NAL.