If it's your cousin have him sign for a new title, and then sign it over to you. Of course he would expect you to pay the bill if applicable.
If that is not possible, call your local DMV and see if you can aquire a title through bonding. Basically they put out that you are requesting a title and if no one contests the claim in a certain amount of time a bonding company will appraise the vehicle, and you will pay a percentage of that appraisal to have a title. It should be cheap, as the truck is an older toyota with some body damage. (at least it looks like it does from the one picture)
Your state may do things differently, but that is how I was told they do them in NY.