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I'm really new to the legality of this, but is there a way he can sign a probate to forfeit the title from his grandfather?
You do not understand what probate is apparently. That is where the decedents estate is administered with whatever bills outstanding being paid (if there are enough assets in the estate) and the remaining assets divided either per a will, if there is one, or per the laws of intestate succession of the laws of the resident state of the decedent.

So, if probate was opened and completed, there is an owner of the boat. The title should have been transferred to them as part of the probate process. That needs to be investigated.

How long ago did the person on the title die?