Preparing for the death of a family member

My father has stage 4 cancer. He knows he’s going to go at some point although he hopes it’ll be quite a while. He came to me yesterday saying he paid off his truck and he wants my name to go on the title that way I don’t have to do anything after he passes. I don’t know what all that entails. Do I pay taxes on it or something? Does the insurance have to be in my name? And then there’s his bank accounts. He doesn’t want to do a will or anything because if he has any debts he doesn’t know about he doesn’t want it getting pushed on me. He has it in his mind that once he goes I can just log into his bank on his phone and transfer it all to myself. I feel like that could get me in trouble legally. What should we do?