First off, why did he wait 5 years?
I can only speak from experience here in Missouri.
When a state doesn't issue titles, as in your situation, Missouri only require a notarized bill of sale, from the seller, with the vin, make, year, selling price and date of sale.
You then have to have, what is called, an id od (vin ID verification and odometer reading) because of it being from out of state.
This can either be done by an inspection station or the Highway Patrol.
We then take that paperwork to the DMV with our personal property tax receipt and they issue us a title.
He probably was working with an employee and not a manager too.
There's an attorney here that will get you a clear Missouri title for $350 and I bet there's one, where he's at, that will do the same.