My grandfather just passed away and I would like to take over the payments on my grandfather's truck. However, I have bad credit can I still take over the payments or do I have to return the vehicle.

That's entirely up to the place that's doing the financing.

I do have to wonder, however, why is the pay-off for the truck not just being taken out of his estate?

Sorry for the loss of your Grandfather. :(

If you continue to just send in the payments, would they ever question it... I don't know.

The problem with just continuing the payments is you can't get the vehicle title transferred in your name. This means you can't register the vehicle.

The estate is in control of the truck at this point, so who is over the estate ?

For it to be settled they also have to pay off all of the debts of the estate, this truck loan is one of them and would need to be settled before any of the estate could be given out.

My question would be who is ENTITLED to the truck under the laws governing your Grandfather's estate - ?

And, yes, unless it is registered and insured in the name of a deceased person until the loan is paid this is not a solution. When the loan is paid, then how will anyone change the title into OP's name?

Also, this could be construed as fraud by the insurance company.