Legal Question in Wills and Trusts in Florida

No-they can't take the car but if you have an accident while living-they might be able to sue your daughter because she also owned the car.

Title the car as tenants with rights of survivorship and when you pass the title automatically transfers to the other owner. She may need to get a new title from the State, but the legal ownership would be hers. If you title it as tenants in common your interest would be subject to your debts at death.