if you're converting the vehicle to personal use, the proper treatment would be to treat it as sold to you for Fair Market Value. since its fully depreciated the S-corp will report this as section 1245 recapture - ordinary income. this will allow you to close down the S-Corp and file a final return.
if you don't do the sales route, technically if you using the vehicle for personal purposes. the IRS actually requires that the value of the personal use be included on your w-2. this has been true for decades but probably many ignore this rule. thus not only would you have to file a w-2 and w3 but also continue filing 941s form 940 and any state payroll tax returns.
here's the link
https://www.eidebailly.com/insights/articles/2018/1/personal-use-of-company-vehicle
