I work in this field a little bit.
Toyota Finance can't force a Dealer to sell a car for them. IF the car had been turned back into the dealer, then the Dealer often would have had the option to purchase the vehicle from Toyota finance and then resell it, keeping any profit on the transaction for themselves. But the dealer doesn't have to buy out the lease, and won't if they don't think they will make a profit on it that will be comparible to any other vehicle they might be able to put in that spot on the car lot - space on car lots is not infinite. Toyota Finance owns the car at that point (and actually legally has since the lease was signed) - and a dealer can't be forced to buy it from them, or to sell it on their behalf (oh, the paperwork nightmare that would entail - trust me!). And this story is even further complicated in that the car wasn't turned into a dealer, they called for Toyota Finance to come pick it up. The story refers to just a "Toyota worker" coming to pick it up, which is horribly vague - that could have been a Toyota Finance worker, or more likely it was a tow company Toyota Finance contracts with. While we like to think of "Toyota" as a great big company, the fact is dealerships are their own companies, not owned by Toyota but by other entities who just have a dealership agreement with Toyota, and they are completely separate from Toyota Finance.
And technically the salesperson was right - death did terminate the lease. You can terminate a lease at any time you want with just a phone call. Just if you do it before the end date, it's an "early termination" which involves all the fees that were incurred. I'm not saying the salesperson wasn't shady when he said this, but I really don't know WHAT was said. The man who leased the car may have just heard what he wanted to hear. Generally dealerships put a hard sell on "gap insurance" on leases that cover this sort of thing, so I actually tend to think maybe the salesperson wasn't being shady. But again, I don't know because I wasn't there and the salesperson's side of the story wasn't presented in the article.
Toyota Finance is out over $2K on this. While it's sad, yes, the estate owes this money. Otherwise, costs like this will just be passed on to you and me as consumers. I'm a liberal - I think we all need to cover for our fellow men on things like health care, food and housing and I will pay higher prices and taxes to do that - but I don't think we all need to cover car leases.