I worried that we might need a lawyer for this transaction,
If you worry that you might need a lawyer then you probably do need a lawyer.
However, if the only estate item in question is the home, I suggest first calling a title/escrow company to find out what services they perform. They generally will do the title search, issue the title policy, provide and record the deed document, hold the funds for disbursement, pay the lender the balance of the loan when all the conditions are met. You, of course, have to know what instructions to give the title/escrow company. Those get determined by any agreement you and your sister make.
You can also consult a probate attorney to learn about services and costs.
Do you anticipate legal issues with the lender,
No way to predict but, as rep of the estate your sister should contact the lender and find out what the payoff is, including all accrued interests, costs and fees so that you know how much money you have to come up with to retire the loan.
No. Talk to your insurance agents. They know what to do.
No. A person who inherits real estate and then sells it reports the gain on their income tax return. The basis for determining the gain is the fair market value at the time of death. That amount is subtracted from the sale price. There may be other adjustments.
See Publication 523:
2020 Publication 523 (irs.gov)
Homes sold shortly after inheriting them generally have no gain when sold for the fair market value at time of death.
is the concern over issues among the beneficiaries?
That's between the two of you and any other beneficiaries. They should sign quit claim deeds relinquishing any interest that they might have. That makes sure that they can't come back later and file a claim of ownership.
Is there a specialty term I should use when searching for the right lawyer for this?
Probate lawyer or real estate lawyer, preferably one experienced with both.
Is the proper form "GPCSF 14 Petition of Conservator for Leave to Sell Property or Rent, Lease, or Otherwise Dispose of Property"?
No, you're not a conservator of anybody. If I had to guess it would be GPCSF13. Your sister (and you) should read the instructions carefully. I suspect that the form has something to do with property taxes. You should check with your property tax agency for details.
Do I use a title/escrow company for the transaction and paperwork, as recommended by AdjusterJack, or a lawyer, as directed by Zddoodah? Or do these agents address different facets of this process?
You would have to discuss services with both the attorney and the title office to see if any overlap.
AdjusterJack, I googled title owner's policy, as I should have done before asking for more of your time. Ignore that question, please.
OK.