This is not legal advice and should not be considered as such. Laws vary considerably from state to state and country to country, so consult with an attorney (many attorneys offer free consultations) who is legally entitled to practice in your area.
That said, generally:
Usually not. Most auto loans require an attached life insurance policy. The life insurance policy attached to it should have paid the auto loan balance immediately and paid any remaing insurance (usually none) to the listed next of kin.
If their was no life insurance attached to the loan, then probably yes, the surviving spouse and/or estate of the deceased might be held responsible for the loan.
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