My Parents Never Titled A Truck They Bought 6 Years Ago, Previous Owner Requested New Title

This is in Texas. My parents bought a 2012 Dodge Ram in Feb 2019. After receiving the vehicle the title was lost immediately but the seller provided a replacement title in October 2019. This Christmas I find out my parents never transferred the title to the vehicle in the almost 6 years they have owned the vehicle. When they finally decided to go to the DMV to transfer ownership officially they learned in October 2024 the previous owner filed for new title and it was approved. My parents still have the title from October 2019 which shows the seller signed it over but since the previous owner requested a new title the title my parents have is essentially void according to the DMV. The title my parents have is the only valid form of ownership they have as they cannot located the bill of sale. We have no way of getting in contact with the original owner as they have moved since from the address listed on the title. Is there anything they can do in this situation? Also before anyone ask, I do realize this was very dumb on their end to never transfer the title and I have no clue why they would wait this long to finally do so.